Well my first post became too long for the forum so here is the Coding instructions.
PLA 2.0 Coding:
First the easy one... Steering assist module.
Open 44-Steering Assist.
You'll see this.
Click Adaptation. In the drop down you'll see Installation Park Steer Assist.
Which brings you here. Change it to "1" for installation of PLA 1.5/2.0.
Close out of that module.
Now if you have already installed the ABS sensors on the rear wheels you probably already had an "Oh Shit" moment when your idiot lights lit up like a Xmas tree. Don't worry this will be fixed after some coding!
Open 03-ABS Brakes
Click coding
We will be coding these last two bytes If you haven't enabled XDS before you might as well enable it now... Its a nice feature. If you don't want to it's not essential for this to work. If you just enabled XDS save the code and come back to this screen.
Click LCode2 at the top of the window.
This is the first of the two bytes you will change. The one with XDS on the previous screen. Since its enabled on my car thats why bit 3 is checked. You will want to check bit 0. This is for PLA 1.5.
Click on the last byte.
Check bits 4 and 6. This is for PLA 2.0 ABS sensors and will clear your idiot lights.
Exit out of the open coding windows and hit Do It! Coding for PLA 2.0 is now complete. Rejoice and go play with your new shiny button.
Here are the finished pictures of bumpers, buttons, and radio. The radio changes to park 360 (showing side sensors) when you start moving. Excuse the dirty car haha.
I will add a video or two once my replacement ABS Sensor gets here showing the car parking itself. I tried it a few times with the busted sensor but parallel it would end up halfway out in the street when it thought it was done and bay space was equally bad. The car did steer itself though lol.