I wanted to follow up on my own (solved) issue. I had this same screens. Inspecting the parking sensors closely from underneath, I saw a broken wire to the passenger's side harness connector to the parking sensor. These wires are tiny! Maybe 24 gauge. I bought 82114-60130 engine room wire harness and replaced it. It was tricky reaching through the grill and underneath, but that solved the issue. Hardest part was placing the harness clips in the right spots blind (and removing the old ones).Last 3-4 days. 7 years this has never happened before and the last time it rained was a week ago.
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Initially, I also bought some OEM replacement sensors, but those proved unnecessary.
I found them on ebay for about $120 where Toyota dealer charges $250 or so.
Hope this helps someone else!
Doug