[ingenieroariel]

You are right in the formal sense, none of those cars officially have by-wire functionality but in order to have LKAS, Park Assist and ACC work they need to support steering via can bus messages and braking via can bus messages. I used by-wire in an informal sense. Disclamer, I have never worked in the car industry, that's why my terminology is a bit loose.

[ShirsenduK]

ingenieroariel is being humble here. He is one of the first (if not the first) to do this with the Ford Fusion.

https://github.com/commaai/openpilot/issues/1

[ingenieroariel]

Work on the Lincoln MKZ / Ford Fusion was made popular thanks to Dataspeed / Autonomoustuff, they open sourced a ROS module but most of their magic is propietary / secret. It's expensive but a lot of startups use it.

The work that you point to is what we now know "openly", and yeah, there is only a few of us and I am one of the firsts sharing their findings on that specific model. There are a ton of people who know what we yet don't know but they don't/can't share it publicly.