Hi Jonathan,
The underlying pipelines for the CV sensors are all delicately built and only support very specific resolutions. I'll update our documentation to better reflect this, but in general: The stereo pipeline can only do 30hz(for now, we're working on this) since it's very custom and the tracking camera can do 30,60,90, and 120hz. The hires camera is more standard and has more robust pipelines implemented to support more standard video stream configurations.
As for the manual exposure/gain, have you set the auto exposure mode to "off", if not you're just setting up the starting point for the camera and the AE library will still perform it's usual duties.
If you're still having issues after this let me know and we can dig through more of what you're seeing.