Thanks Man!
I Followed a Few guides and combined them all into one.
It should be really easy to do them, the only problem i had is In A5 Byte 0(Which is the setting for enabling lane assist in the camera itself) when it is unticked it says Active, So the lane assist did not work for me until i Enabled it.
I Will Make a list of all the changes i made and post it here.
the 2 can wires for the ACC Radar are on the left of the Drivers footwell (LHD)
When you take off the trim that has the engine unlock thing you will see a few connectors ( pic attached).
Then Check if the Black connector( In the diagram it says brown but i cant see a brown connector so it must be the black one) has Can Bus wires coming from the front of the car there to pins 11 and 9. Then you just connect them to the connector and you are done.
Pin 1 of the camera goes to pin 11 (Low)
Pin 7 of the camera goes to pin 9 (High)