IPMA (Raptor)
WARNING: This page is about a different car, the 2020 Ford F-150. However, it is still accessible from the selected car via links, so may be relevant.
The IPMA is integral to the interior rear view mirror. The IPMA communicates on the HS-CAN2. The IPMA contains a forward-looking camera that is used to detect the position of the vehicle within the lane.
The IPMA requires PMI and camera alignment when replaced.