Just replaced the pads front and rear on my 2001. The sensors are held in the inner pad by a spring clip, and very easily removed, after removing the left front tire and wheel. Turn the steering wheel hard right to provide easier access. Using a small screwdriver reach to the center of the pad, and pry out the sensor,carefully so you don't lose the spring clip. The wires are connected with a plug assembly at the frame. To reinstall, put the spring clip in first, then push in the new sensor, making sure it seats properly in the spring clip. Use a light to check before reinstalling the tire and wheel. Repeat process on right rear.
Ed
Aspiring mechanic