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My 2005 f150 lariat has them. Their cool and all, but I don't really ever pay them any attention. I think the reverse sensor came out around 2004 because my 2001 f250 7.3 did not have them.
My 05 Lariat has them also, I use them all the time. Being lifted you can't see crap parallel parking, they start beeping at 6 ft away and go to solid tone at 1 ft away......
My '06 FX4 has them.....great tool for parking, hooking up trailers, etc......I believe that FX4, Lariat and Harley editions had them in '05, '06 and '07.....after that I am not sure.
I didn't think they would come in handy, but with the combo of backup camera and backup sensors, it really makes backing up such a long vehicle a breeze.