Stir vinegar with salt, freshly grounded pepper, cayenne pepper and sugar in a large bowl. Fold in the olive oil. Peel and fillet the oranges, reserving the juice. Mix the orange juice with the vinaigrette. Add chickpeas and prunes. Cover the bowl and let marinate in a cool place for approximately 30 minutes. Clean and wash the endive heads and remove the leaves from the stems. If necessary, cut bigger leaves in smaller pieces. Cut camembert in small portions. Fold endive leaves and orange fillets casually into the chickpeas-prunes-mixture and season again to taste. Prepare the salad with the camembert pieces.