Do I need to remove my bumper cover to install this?

You'll likely need to unbolt your front bumper to access the mounting points underneath. The bar itself attaches at factory locations, so no drilling or custom work — just remove, bolt on, and reinstall your bumper cover.

Will this work if my bumper already has sensor holes for parking aids?

The reinforcement bar mounts behind the bumper cover, so existing sensor cutouts won't be affected. Your sensors will function normally once everything's reassembled.

Does this lower valance or undertray need to come off?

Depending on your vehicle's specific configuration, you may need to remove or work around the lower valance for access to the mounting bolts. Check clearance before committing to full disassembly.