I haven't watched the video's but according to this procedure it doesn't look either difficult or time consuming.

BMW Workshop Manuals > X Series E53 X5 3.0d (M57) OFFRD > 2 Repair Instructions > 32 Steering And Wheel Alignment > 31 Steering Column > 5 RA Removing And Installing_replacing Steering Angle Sensor

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Cheers,

Anthony