I have an '06 with the back-up sensor. I have read that this is also being called a back-up camera. If so, how do I get it to show on the screen or is this only a camera for later models?

Sensors are the little dots across the chrome strip on your rear bumper. The backup camera is actually a small camera mounted near the rear plate. If you have the camera, it automatically activates when reverse is engaged, popping it onto your screen.

And the camera was something they came out with for 2007 (i guess to make up for all the little things they took away ;) )

I have heard people asking if they can buy it and have it linked into their 2006's. I can't see why this would be a problem, but not sure if anyone has or not.
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Yeah, I saw the sensors, but was curious about the camera.

If you do a search for the discussion on the 07 Back Up Camera, I believe that you will find it to be a very difficult upgarde for an 06.

The wiring harness has changed and the 07 Nav unit has new (built in) inputs.

Might be less expensive to trade.

JST2

It'd be nice to have a front camera as well in order to avoid scraping the spoiler on parking blocks.

That would be great. ge2 had some good advice on that if you ask him.
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ON my last expedition, I did add an additional camera. I added it in the rear passenger wheel well, to avoid curbs when parallel parking. When the view came up on my screen, it was a split screen showing the backup cam as well as the wheel well cam. I know folks who have also installed these cams inside their cars to see rear facing infants. Any good installer would be able to put an additional cam anywhere you like.
That said, adding the factory backup cam to an 06 is reported to be tricky, as mentioned above, so aftermarket may be a better solution.

ON my last expedition, I did add an additional camera. I added it in the rear passenger wheel well, to avoid curbs when parallel parking. When the view came up on my screen, it was a split screen showing the backup cam as well as the wheel well cam. I know folks who have also installed these cams inside their cars to see rear facing infants. Any good installer would be able to put an additional cam anywhere you like.
That said, adding the factory backup cam to an 06 is reported to be tricky, as mentioned above, so aftermarket may be a better solution.

I guess it's tricky on an 07 as well. When I replaced the factory radio with a factory nav, I didn't see the back-up cam connector/wiring harness (unless I grossly missed it). So I'd have to purchase and install that harness to the rear hatch at a minimum.