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Happens to me, there is a setting that focuses on your "rear" sensors only, and also "side rear" sensors, I disabled the side rear as I have less chance of hitting it if obstruction is to the 'side'...
Also the strange noise/grating is because I think it engages your parking brake which is the rear brake pads only, and it is rough and ready, not like the braking with brake pedal...
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Sunset Orange G20 330e xDrive M Sport Pro - Tech/Pro Pack, Park Assist Plus
Bluestone G30 M Sport - Gone to Stud
Alpine White F10 M Sport - Gone to Stud 
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