You absolutely cannot use that PNP sensor directly with the sidecar. The only kind of sensor you could directly use with the sidecar would be a 5V NPN sensor. Anything else is going to require some sort of extra wiring.
If you're prepared to resign yourself to extra wiring, you could use these
optoisolators from Mouser. You'll connect your PNP sensor on one side, through a current limiting resistor, and the signal and ground wires from the sidecar on the other. If you do it correctly, all your interfacing is magically taken care of for you and your sensor will work.