It is likely illegal to not be properly insured and if you don’t declare all modifications to your insurer and later need to make a claim, the insurer may attempt refuse to pay out or give you a reduced payout, therefore I think it may be advisable you check with insurer if they are aware of the difference to standard expected "brochure" spec.
Completely removing parking sensors likely increases insurer perceived risk on average by under 14% and disabling Park Assist completely might also increase risk, however I note that improving brakes can increase insurance by 36% even though in my case I am convinced it would make me a safer driver!
Here are some minor car modifications that can push your insurance premiums up or down.
news.jardinemotors.co.uk
Personally I have found Park Assist a benefit overall and in my car I can deactivate audio fadeout (radio volume lowering) as well as change tone pitch and lower volume so it is less intrusive than traditional systems yet still useful, though others for different reasons wish they could disable Park Assist completely instead of disabling at start of every journey