Hey,

I took mine to the dealer like a big sissy and they did all of the work. Looking back I think I should have done it myself after they told me it was a sensor. I think removing the rear wheel on the driver's side will make easier access to the sensor. If not then you will have to lift the car pretty high to get to it.
I really don't think they removed a lot on my car to do the work. good luck.
If you really need it I can try and lookup the steps on my TIS & ETK software but I'm not near it now.

DrumAdrian