The sensors are a swine for dying as they get to 6+ years old. To make no beeps at all and also no error messages is a bit odd though. If you can (and you're brave enough) get someone to put the car in reverse (clutch down or foot on the brake if it's an auto) and put your ear to each sensor in turn. If they are working you can hear a faint click click click noise from them. If one isn't clicking you have a duff sensor, if none are clicking then there is probably some other fault.
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