Admittedly I am new here but im not new to cars. My SHO was the first car I've ever had with adapt. cruise, I've turned it off, and back on, its kind of a "eh" feature to me, okay for long highway rides, but I don't trust auto braking any more than I trust Tesla's driving themselves completely. but to each their own and if its worth the extra work for you then here's my take on it. it is possible that it uses the same abs module for braking and id think you could trick the PCM into anything with forscan so might not be too bad
I checked car-part.com for a list of computers in the 2013 Taurus, it looks like its 1 cruise module with or without adaptive. That said I would check to see if your car has the pigtails for the missing equipment like the camera, I'd start by digging around the overhead console and headliner area the camera mounts to, if not there around the kick panels to see if maybe there's a pigtail there that would run up the a-pillar. if you have plugs laying up there by where it mounts, compare them to eBay or somewhere you can get a visual of the plug to see if its even a possibility,
Full harnesses can differ depending on models, I had some simple upgrades on my 2015 fusion that I robbed from a 2013 fusion, plugs were different in some areas, and in others, the harness didn't exist. my car was an SE, the other, 2 years older same generation SEL, the harnesses that were missing were for seat memory and seat heaters. I bring this up because it was an option for both years, but the pig tails weren't even in the main harness as an option for my car. gone are the days of plugging in nifty Lincoln stuff into an f150 lol.
if you're prewired for a camera, that's a good sign to maybe talk to someone with forscan and plug it in to see if you can activate adaptive cruise, from there its parts, programming and calibration. speaking of calibration, another consideration is the windshield, I know on some cars the windshield mounted camera requires special glass for directly in front of the lens and calibration of the camera itself once installed. good luck
