I’ll chime in with my experience on this, as I just went through it on my ‘19 with only 4000 miles on it. It took the dealership 50+ days to finally diagnose the problem... they put in a new body control module, new radar unit, contacted Ford directly who told them to go through the wiring harness one wire at a time.. tore apart the camera in the mirror, etc etc etc. They finally decided that the ACC radar bracket was “broken” and causing false readings. Replaced the bracket and all was well for about a month... until today, when it just crapped out again in the middle of a 4 hour drive home. It seems, in my opinion, that either the bracket or radar unit are extremely delicate and any hard bump to the front end or tapping the skid plate on the ground causes it to fail.
My advice would be to have the dealer check that area closely first so you don’t get your truck completely dissected like mine was