Ah yes sorry I remember you saying now - it was a while ago! Yes it does look like different plugs/sensors.
The whole parking system is a single entity, controlled by that single module, so if it detects a fault in any part of it, the whole module will fail.
The only part you can change without reprogramming anything are the dash buttons. They will just not do anything until the BCM is programmed.
After programming, if you are still missing parts, you will get a 'Parking Aid Malfunction' warning on startup and if you put the car in reverse, or press the sensor or auto-park buttons you will get a chime and flashing light on the buttons.
It looks like you have a 'later' BCM, which will only accept the 'later' parking module, meaning you will definitely have to add the 6 rear sensors to get the system to work.
Are they the only faults you are getting when scanning with Forscan? Two missing rear sensors?
Have you also checked your rear abs sensors? If you have the wrong type, the system WILL work, but the car just won't steer when you try to auto-park.
Not sure if same for the Kuga, but if you take the plug off one, it SHOULD be a lighter, beige or grey colour. Having said that, the ones I bought to replace my non park ones were still black...
After this, you have to change the ABS sensor type in Forscan (BCM) or you will get incompatible part errors. This is in Bannkos guide but I missed it and couldn't figure out why it wouldn't work!!