I went back and read a few historical threads. What makes little sense is IF the rear wheel toe is indeed out of spec and the system still functions, why would you need a sensor alignment when you are bringing it back to factory specs, which should bring it back closer to how the car was setup in the first place?
The loaner they gave me had ACC. What a terrible system. It slows down when there is no need and keeps fighting you for directional control. When I first used it I thought either it had a low tire or it was a very gusty wind. This fighting the system while changing lanes was further aggravated by the more top heavy Taos. If you cannot visually keep your car in lane, should you be driving in the first place? It got better after I figured out how to turn off the lane assist and tone down the ACC, but give me a predictable and controllable system. Too much of big brother the car thinking it knows better. What’s even sadder is that turning off the autonomous braking gives you a constant warning

light you can’t extinguish.
Money all better spent on stricter driver training requirements.