When it plays up, the faulty sensor(or sensors) doesn't tick. All working sensors, when touched very lightly with the right pressure can be heard/felt to tick. Much like an electric fence, but you won't be electrocuted obviously.

That in addition to Entwoods guide, which involves removing the fuse shaped resistor from the loom to activate diagnostic mode which bleeps 1-4 to give the faulty sensor, should help diagnose which loom or sensor.
Then it's a case of removing the bumper and finding the fault.
IME if the bumper has been removed, and hence the sensors have been unplugged( as opposed to removed from the bumper) they sometimes give a bad connection on re connection. The little rubbers in the plug connector get filled with dust and crap, and electrical cleaner makes the rubbers swell up and then the plug won't go in.
Or it's a fault, broken wire, in the loom etc. no experience of a failed sensor, it's always been a connection problem IME.