Entirely possible, but possibly not worth it. You'd need a full wiring harness from a donor car which had PDC, and you could strip out everything for the PDC system making a note of where it joins the original harness. You'll end up with a sub-harness just for PDC which can then be put in to the 01 and joined in all the original locations.
Bear in mind you will have to have a considerable amount of the interior out to do it OEM - rear deck, boot trims, centre console, sill trims, lower dash, glovebox, cluster and front left arch liners all have to come out. You'll likely also have to add a fuse for it in the driver's kick panel fusebox. Plus, the front connector runs through the left A-pillar grommet so that wiring would have to be cut, fed through the grommet and then reattached, since the front bumper connector won't fit as-is. The rear bumper connector may require a hole to be drilled in the rear panel - not sure if that is there and blanked, or not there at all on non-pdc cars. You'll need two new bumpers as well, obviously, plus all the sensors.
It is likely to be a full day's work extracting the PDC sub-harness from the donor (with help from wiring diagrams). I would say two, possibly three days to put it back in the 01, given how much has to be removed.
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