If an accident took place as a result of something like this would there be any way of finding out during an investigation?
Depending on the surrounding circumstances of the incident, it would probably not even be considered a possibility because fatal car crashes are so common that "just another accident" is the most probable, and thus most usual answer.
That's also the reason why Michael Hastings death is so controversial to this day [0].
[0] https://en.wikipedia.org/wiki/Michael_Hastings_(journalist)
This can give lots of information about what happened (faults could be "didn't receive message xyz" "sensor xyz gave signal out of tolerance"). But there is definitely no system trace for the communication - too many messages to really store them I guess.