I had a similar issue, parking assist was not working continual bleep and just kept getting a ticking sound from somewhere in the rear, this stopped when I disconnected the parking ecu!
I happened to have a spare ecu so swapped them over, no difference, turned out that my spare was also faulty!
Could be you have picked up a duff one also?
You could try disconnecting the plugs from the ecu to test
Good luck
Gareth
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