So,
Problem:
I tracked the errors, and the problem was indeed that the camera was not initializing before the code tried to apply settings to it.
Solution:
I solved this by setting the exposure inside of the while loop. This also allowed me to set the camera to have a low exposure for autonomous, and automatic exposure for teleop so the drivers can use it to see.
Here is a screenshot for when auto is enabled (or disabled),
and here is another for when teleop is enabled.
I hope this helps anyone with this problem in the future!