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Mine is going off on a solid beep. It is only doing it once in a while. The sensors are clean so I know that is not the problem. Just got to get a good day to crawl under there and take a look see.
ok..now this is weird. Today is rainy, thunderstorms, golf ball size hail, tornado watch and guess what? When I backed in at home the sensor is working fine! This is nuts! It has been "off" with zero beeps for a full month.
Fixed it! It was just one faulty sensor on my 2000 X. Experienced same problem where the dash switch lights up when the X is in reverse and NO beeps when backing up. Again, this is not the same problem or symptoms when the sensors are wet or dirty and you get continuous beeps when backing up. Bought a single $57 new sensor on the net, excl shipping (local dealer wanted $90). OEM Part # YL1Z-15K859-AA. Apparently all four sensors must be working for the backup system to function correctly. 5 minute trial and error process with each sensor. Just crawl under the bumper and look up and you can easily access the two outside sensors (use a flashlight). First gently pry the black plastic holder tabs (at 12 o'clock and 6 o'clock) in sequence and gently pull the sensor away from the bumper. Now the sensor will just hang down while still connected to its electrical connector. Gently pry up on the thin black tab on the electrical connector to free the sensor itself from the electrical connector. Click new sensor back into original electrical connector and then install both back into the plastic holder (just push in and it clicks). Start your X and put it in reverse and see if it now works correctly. Mine did not. So next, I took the used sensor I just removed (assuming that the odds are in my favor that only one sensor is actually faulty) and put it into the other outside sensor as described above. Started X and put it in reverse and bingo all now works as designed. Repeat process with the middle two connectors as each are accessible working with one hand (as you need to work around the towing bracket) and a screw driver in the one hand per the process I described above. At most you're out of pocket just one sensor if the system still doesn't work when all is said and done, otherwise visit your local dealer.
Here you go... http://www.ford-parts.com/ The sensor is at a slightly lower price than I quoted earlier (I posted $57, but they actually sell at $53 and change).