Recently purchased a used 2020 Expedition Platinum. Park Assist was failing intermittently. Dealer stated DTC showed IPM-B failure. Unfortunately, my Endurance extended warranty does not cover that part because it is a wireless transmitter and is explicitly excluded in the terms. Dealer replaced the part and performed camera mapping. Still showed a DTC, this time for backup sensors. The sensors were covered under the warranty. Total cost out the door including deductible for covered parts was $1214.11. The majority of the cost was for labor. System is working fine now.