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I had the same problem, only mine was caused by reversing into a snow bank. After removing some panels under the car, I was able to reach up inside and push the sensor back into the mount attached to the bumper. It just clicked back into place. There is a rubber gasket that fits around the sensor (the black ring you can see around the sensor), hopefully yours isn't lost, mine was hanging off the hole and I was able to refit it.
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