Xoutpost.com - Question on CPS replacement

Details:

Car is 2001 X5 3.0i 94k miles.
SES code is P0369. Searched this board and revealed it's CPS Bank 1.
I plan to replace both pre and post intake CPS since one failing usually means the other will be soon.
Checked DIY section on CPS replacement. Instructions said "separate the plug from the sensor". So here are my questions:
- Does "separate" mean unscrew and screw back? Do I need a special tool?
- Are both CPS easy to reach or do they require a bit of contortion?

Thanks in advance for replying.