as 710 mentioned, in the Maverick, you cannot use ACC without the button for lane assist / lane keeping also engaged.ACC is only about speed - the steering is a different feature (Lane-Centering) that's not part of ACC itself, though on the Maverick I think they come in the same bundles.
Lane departure warnings is a separate feature still, which my XLT has.
radar-based ACC debuted for Ford in 2006. that was a long, long time ago. I am not sure when lane centering was added, but I am sure that one model - the Ford Bronco - still does not have it. I own a Bronco with adaptive cruise that does not do lane centering which means it doesn't really self-steer, it just kinda nudges you back to center if you wander over a lane slowly enough.
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