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This lecture mentions that the ECU can sense the density of the air using temperature, but does it sense humidity? Doesn't humidity affect AFR accuracy?
Yes, humidity does effect air density, however the magnitude of the effect is so small that it is not worth accounting for. For example at a relative humidity of 100%, (and all other aspects remaining constant) we can calculate air density to be 0.076 lb/in^2. If we then calculate the density at 0% Rh, the air density is 0.0765 which is about a 0.6% change. Consider that is from a relative humidity of 0% all the way to 100% so we're looking at the extremes. In the real world, the variation isn't significant enough to worry about.
If you want to see for yourself, there is an online calculator here: https://wahiduddin.net/calc/calc_da_rh.htm
