You need to check that the piston on the airbag isn't dirty, they often leak where the bellows fits the piston and dirt can be a cause, if it's been off-roaded in high mode the piston is really exposed.
Washing up liquid will help trace the leak if you can catch it leaking.
It could also be dirt inside the valve block, but that tends to afflict RRC more from what I've heard.
Don't think it waill be the sensor, not if it's only trouble when it's parked. Unlike the potentiometer used on the RRC the Disco II used a clever feild effect sensor with no moving contacts, so there is no chance of if going open circuit like the RRC sensor.
But you definitely don't want to leave it too long.