I've had the ACC issue again today - about an hour driving on the motorway.
After maybe 45 minutes of occasional use, it stops working - just two beeps and the 'acc off' message on the dash.
Windscreen was completely clear, but I sprayed it anyway. Still didn't work, but maybe 10 minutes later without stopping it was working again.
Maybe some unseen dirt gets on the windscreen and after it's cleared it takes a few minutes for the system to reset?
No chance getting a dealer to sort it, as it has only happened twice in over 8,000 miles now.