Well, the first of your pictures I open shows a clear yellow line with some leaves, then the third shows the restrictions sign right by where you indicate you were parking, so I think you'll struggle with this. However, one has to wonder why enforcement is now taking place if you've parked there fairly regularly for 2 years. Maybe you have been lucky, but we do see this sort of thing all the time.
For me, your only real argument against the PCN is your regular parking without penalty. This is called 'legitimate expectation', but somehow you'd have to show how often you have parked there over the years. Another argument that I don't think is particularly strong is the mess on the carriageway partly obscuring the yellow line, but your own photos shows the line is visible. The whole cul-de-sac has yellow lines, and signs so this is no real guarantee of success.
The PCN looks OK for content, so no mileage there.
Sorry not to be more positive, but I would not risk the discount if it were me. Submit representations but I don't think they'll give way. If you go all the way to adjudication via the Notice to Owner, you will be liable for the full £70 if you lose.