On my ex-Audi S6, just a few freaking bugs on the radar lens in front, were enough to disable ACC. Clean the lens, and problem solved, so it was just a bad design. Never had that issue with any other car, including a Kia Optima, so I assume the Pali is fine in that regard. As far as the camera, I was under the impression it didn't play a role with ACC, but maybe it does with the Pali. On my previous cars, the camera was for lane departure related features.