There's certainly nothing complicated about replacing the sensor, but sometimes they're quite difficult to work with. Often, the sensor will seize in the steering knuckle and won't come out. Otherwise, it's a simple matter of removing the wheel and fender liner and unbolting/unclipping the wire and sensor, and disconnecting it.
Beware, though, a DTC indicating a problem with the wheel speed sensor signal doesn't necessarily mean the sensor itself is the culprit. The tone wheel on the axle could be cracked or damaged. Or the wiring could be cut or chewed. I've seen each of these more frequently than wheel speed sensor failures.
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