Problem solved. Maybe someone will find it helpfull. In my case at least one of the sensor was the cause.
As I wrote earlier, I couldn't feel the "click" of sensors but checked once again and there was quiet but audible "click" sound.
Troubleshooting based on decay time of sensors in VCDS. One of them had quite static time comparing to the rest (time was oscilating aroun 1ms, where one had almost constant 0,95ms). After replacing this one nothing changed in working of PDC but other sensor started to give static decay time. After replacing second one, PDC started to work.
Oh...and info about rear buzzer. In Superb FL there is no rear buzzer - in prelift versions buzzer is in B pillar behind the driver, as in lift version same buzzer (near PDC module) is for front and rear PDC.