A manual zoom & focus lens will be problematic, zooming to what ever you want is easy, but focussing the lens on such a little screen is a pain.
Even using manual focus on my Nikon Dslr with a little larger screen is stupid, so i mostely have to take some pics and then zoom in on them using the camera and lens to inspect if manual focus is alright.
To be honest i dont even know why Dslr cameras support manual focus when its so silly, old Slr cameras was much better in this regard.
There are a few that make addons for some action cameras using other lenses.
https://www.back-bone.ca/
Just be advised upgrade lenses for these things can be just as stupid expensive as lenses for Dslr cameras.
In general i find a real camcorder best in most cases, things like the little action cameras are only to be used for really up and close ( on board ) action, filming some one else doing something action - filmed from a distance as a spectator you are far better off with a camcorder.
Same goes for phone cameras, you need to be up close or you again are better off with a camcorder.
My friend have several action cameras, but it is his Sony camcorder that see the most use.