Installing/replacing A Speed Sensor

[J. Martin]

2002 SC430

I just found out from the Lexus Dealer that the Left Rear Speed Sensor on my 2002 SC430 has gone bad (triggering the Auto-adjust headlamp light AND both the VSC lights on the dash). Installation from them is a little pricey so, if anyone knows how to do this or even a good head start, it would be much appreciated. From what I've read, I'm thinking that the rear speed sensors are bolted to the transmission, and that it could be pretty tricky to even get to them. If it seems really complicated, I'll just suck it up and let Lexus do it, but I would prefer to do it myself. ANY pictures at all would be great.

My apologies if this topic has already been discussed in a previous post....Happy Holidays everyone!