Update.
Up until last Friday the failing sensors was easily triggerable by putting the car in reverse. On the Friday, I selected reverse and got the expected bong plus failure message. Still in reverse, I re-enabled both Blind Spot and Rear Assist in the Car menus, completed my escape from the parking space and drove for 150 miles. Blind Spot Assist worked all the way to my destination - and hasn't failed since!!
I took the car to the dealer yesterday as agreed and explained the situation, they took the car and ran the checks. After clearing error codes that were pre-existing (they had the car all day) they've not been able to regenerate the fault, nor have the codes reappeared. Today, all still seems to be well.
As there is nothing to fix at the moment I've been asked to monitor and let them know if the fault returns - pretty understandable that you can't fix something that ain't broke.