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Are you the original owner? If not, maybe your rear bumper was replaced at some point without the sensor holes for some reason. Just a guess.
I get that error message in my F350, but that’s because my sensors have all died.
Re: no i’m not the original owner but i doubt it that it was replaced without sensors
plus I’ve done some research about the problem that there could be radar sensors and when you have radar sensor you won’t have sensors in the rear bumber but i need someone to confirm