Retrofit ICC?

It's not possible to add only ICC to a vehicle without it, you have to add all of the various DAS parts to make the system work and then you would need the programming and option codes to turn it on. Just adding the radar sensor itself will not do anything but burn a major hole in your wallet as the current price for just the sensor is around $1,000.00 then you need all the other parts to add lane assist and the other technology items in the package as well as the harness changes and an ADAS calibration system to set it all up after it's turned on. There is a reason why that option package is very rare on those cars and the price is only part of it, the systems are rather fragile and failure prone, so the sensors keep needing replacement and calibration.