Indeed, don't trust fully on parking sensors.
1. Wanted to show a friend with my previous audi in the dark. Backed up, small beeps....was waiting for the long full beep tone, instead i heard a soft hit :) (no damage).
2. My mom had simlar fact, also a small pole...although it wasn't a test. Result, their brand new audi needed a new set of rear lights, an big dent to be pulled out of the rear side panel and bumper fix. Luckly the insurence covered it.
BUT i guess you are aware now under what conditions the sensor might fail. Sorry...anyway, good luck with the repair. Can't add any usefull tips beside if it is only scratches or other paint on top of it, you can try 'commandant'. One of the many products that can fix these small damages. But i'm sure there are better products and ways to fix.
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