You say about not cleaning it for a while, well it only takes a thin layer dust/dirt to fool the sensor there's something there and cause faults. A way of checking them and yes you can look silly doing it, is to kneel down and put your ear next to the sensors one by one with ignition on and it in reverse and you can hear them clicking a bit like a gas hob igniter. might give you a better idea which one is causing problems. Might be worth soaking the front or rear which ever is dodgy then test them