Single Sensor Test Run! Say that one fast 10 times hehe..
The test was successful to my surprise, I was actually expecting at least one crash but nope! It behaved as I wanted, drive forward, break when detecting an obstacle and reverse until obstacle is gone, then break and drive forward again. Like the auto-breaking system on modern cars(except for the reversing part, that would be bad).
Not much else to say, was far less eventful than expected. So the code, demo video and example file download is below.