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Sounds like your problem is slightly different to mine.
Mine is exactly like the OP's.
I am going disconnect one sensor at a time to try and find out if it is a faulty sensor.
As I understand it-
When you select reverse the original tone you hear is a diagnostic check to make sure that all sensors are working.
As I am hearing a high pitched tone after this original tone I believe it is to warn of a faulty sensor.
I will check over the weekend and let you know.
Hope you get your problem sorted.
Currently in kmm66d's garage:
Renault Laguna 2.o IDE Initiale