Color matched bumper question

Hey all,

I recently traded my 2010 Rock Warrior for a 2020 Limited. My Cement 4x4 Limited came with the cement rear bumper caps. I would like to black out both bumpers. The front chrome is fairly straight forward (just buy and install the matte caps from sparks).

However, I am unsure for the rear. There is no chrome underneath my current caps, so do I need to just buy stock unpainted rear corners and install as a stock for stock replacement, or do I need to get covers to fit over the current cement colored corners.

I have a feeling i could do either one, but was hoping someone else might have experience with this. Also, if anyone can point me to a sensor install guide, that would also be helpful.

Thanks in advance and I am glad to be a part of the community!