GM openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 100 supported car makes and models.
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Investigate means of supporting an additional CAN bus using the harness #42
Worst case we may need 5 busses.
Typical case only needs 2 or 3: Powertrain Camera SWGMLAN (technically not required, but no dash notification without it)
However, in order for OP to actuate the brakes on many vehicles, it must have access to the chassis bus. Additionally it may need a bus for radar.
Powertrain is fixed. Camera is also fixed due to the relay - it would be very difficult to repurpose. There is a line typically used for radar.
The fourth bus is used for chassis bus in some cars, but it is used for SWGMLAN with the obd2 harness.
This article: https://wirelessnet2.medium.com/bitbanging-can-rx-on-black-panda-and-uno-bf815890bfb7 May provide some relevant info