I just had to do this procedure on my 2006 after the VSC, ABS, and TRAC lights went off. I had my mechanic check the codes and the right front sensor registered an error. You can check the Ohm's for the sensor, apparently they should read around 1.0, in my case, nothing, so new sensor it was. You can find the OE Denso sensor harness for around $180 shipped.
Banana Rating:
(as long as you are comfortable with pulling hubs and rotors.)
Tools Required:
(54mm socket, brass drift, torque wrench, and 17mm socket for caliper and hub removal, follow the excellent how to's already on mud for this step)
-10 & 12mm sockets
-12mm box wrench
-hammer
-sandpaper or file
-zip ties or support for brake caliper
-patience
Obviously the most difficult and technical step is the hub R&R.
Step One: using a 12mm socket, remove the brake dust shield. There is a fiber gasket that can rip if you are not careful. Mine did not. Remove shield.
The problematic sensor will now be visible.
Step Two: use a 10mm socket to remove the bolt for the sensor from the inboard side.
Then follow with a 12mm wrench at the three brackets.
Banana Rating:

Tools Required:
(54mm socket, brass drift, torque wrench, and 17mm socket for caliper and hub removal, follow the excellent how to's already on mud for this step)
-10 & 12mm sockets
-12mm box wrench
-hammer
-sandpaper or file
-zip ties or support for brake caliper
-patience
Obviously the most difficult and technical step is the hub R&R.
Step One: using a 12mm socket, remove the brake dust shield. There is a fiber gasket that can rip if you are not careful. Mine did not. Remove shield.
The problematic sensor will now be visible.
Step Two: use a 10mm socket to remove the bolt for the sensor from the inboard side.
Then follow with a 12mm wrench at the three brackets.
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