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Camshaft sensor replacement

(2002 GMC Yukon)
in Idaho Falls, ID on September 30, 2010
I am attempting to replace a camshaft sensor for my mom and dad. I can't find consistent information on where it is located. Where is it and how can I get to it and how do I know I have the right part when I disconnect? Pictures would help a ton!! They have a 5.3 L engine.
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