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I'm Lucy, and I'd be happy to answer your questions today. I'm sorry to hear that this happened.
Employment is unfortunately at will, which means that an employer can let an employee go at any time for any reason (or no reason). But even if you had a contract that said you could only be terminated for cause, sleeping on the job is generally considered cause for termination.
As far as the pictures/recording goes, a person only has a case against someone for photographing him in a place where there is a reasonable expectation of privacy. When you're in the passenger seat of a vehicle, anyone who passes by can see you through the windows. That's not considered private from the world at large, but there also wouldn't be any expectation of privacy from the driver of the vehicle. Based on what you're saying, I'm afraid there is no case here.
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