In addition to EVO's notes, you should make sure you're not using experimental or alpha long. The Ford ACC is better (according to everyone else, I haven't actually tried alpha long).
For those that fear "lat tuning" - I vibecoded this to help you understand how it works in your device.
It's a lot easier than you think! All credit to @Ajzride youtube as my agent built off that. It is (allegedly) referencing the exact code and logic from Bluepilot.