It's not possible apparently!
I've got the RCD510 and the dealer fitted sensors. I had a massive fight with the dealer about all of this because they told me when I bought the car that it would integrate with the RCD510 screen. That's wrong!
It's missing a control module that puts the sensors on the screen. It is only the ones that come out of the factory that do show up on the screen so you're out of luck I'm afraid.
There is some third party ones I've seen that appear to integrate but it's not cheap!
Polo GTI - 5 door - Candy White, Xenons, Comfort Package, Audio Upgrade, Bluetooth, Parking Sensors and Tint
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