Method and apparatus are disclosed for monitoring and adjustment of gaps between vehicles. An example vehicle includes a rear sensing device and a controller. The controller is to determine a target lead gap for following a lead vehicle during adaptive cruise control and measure, via the rear sensing device, a trailing distance to a trailing vehicle. The controller also is to determine a target trailing gap for the trailing vehicle. The example vehicle also includes a cruise control unit to increase, responsive to the trailing distance being less than the target trailing gap, the target lead gap based on the trailing distance.