sadly, I don't think so. It's annoying to have to push it when pulling in anywhere and not backing in. I have read through the manual and also looked in the menu settings and I just don't think it is possible which is a real shame. Seems something so obvious.
I find if I shift to neutral and coast into a parking space with a wall in front of me, the sensors will activate. I even noticed if I shift right back into drive, the are active until u go over 10 mph.