I had most of these issues myself, until about three months ago. Due to a huge bonehead move, it appears to be corrected!
I forgot to close my rear hatch when I pulled out of my garage. Since the European garage ceilings are so low, I dragged my rear hatch into a concrete beam.
The rear window shattered. The rear wiper was destroyed. The spoiler was scraped, and there was a buckle in the door at the top of the Ford emblem.
The entire door (and window, of course) had to be replaced, which included a new camera and calibration. It took about 3 days to get all of the parts, now that a version of the Explorer (Hybrid) is being sold in Europe. The shop had my ST for a week.
No camera issues at all now, and it actually seems more responsive when I shift into reverse.
Total for the repairs was around €6000...but insurance covered it. My first claim in over 25 years, btw.
So, that’s one way to fix the rear camera issue….