I know you said you believe you were doing everything correctly, but just to make sure:
First, make sure it's turned on. Yes sometimes it's off.
Locate the sensor under the rear bumper, in the middle, try it with your hand to see if it open, it's a motion sensor, don't touch, don't go too close, go in just enough and go out, remember it's MOTION sensor, you have to do a motion in and out, straight, don't wave. If it works consistently, then the sensor is ok, just you've been doing it wrong If it doesn't work at all, then sensor is faulty, get it fixed under warranty, don't listen to dealer BS. If it works intermittently, tell them sensor is not working, if they tell you otherwise, simply ask can they perform to make it work properly 3 consecutive times in front of you. Yeah exactly, REPLACE for me please.
Few tutorial links, may be helpful maybe not:
P/S: My 19 ES doesn't have kick sensor LOL. My 20 NX does and it works 95% of time.