Same problem here MY19. The message comes up "Parking Assist Unavailable, Clean Parking Assist Sensor", which I obviously did and it reoccurred a couple of times since. There is no paint protection (other than wax) applied to the car.
Since it does indicate which of the parking sensors is faulty it is difficult to de-bug. I have had a number of bad parking sensors that I replaced myself (one in CT and two in RX), but this time it just flags the whole system error and I cannot tell which one is the faulty one.
Does anybody know what causes this and how to fix it? Other than taking the car to the dealer, obviously.