Depends on the car what it has access to. It may leverage radar data, for example. Some cars (Ford Lightning for example) it only does lateral (steering) control, longitudinal control is still under the control of the OEM adaptive cruise.

3 cameras. Front facing 180 degree, and front facing telephoto. Rear facing 180 for driver attention monitoring.

Looks like there are 3 cameras on the Comma 4. There's a narrow FoV camera facing forward for distant objects.