Does the harmonic balancer have to be removed to replace crankshaft position sensor?

What is your question?

Code came up on scanner and engine acted same way when a coil pack failed. The vsc light came on. The code cleared after I removed the negative terminal when I started looking for the cps. Drove car a few miles and the code didn't reappear. One manual says the sensor should be easy to replace but I can't find it where the says it should be. Other info says sensor is behind the balancer.

What makes this problem better or worse?

Disappeared after disconnecting the negative cable.

How long has your 2006 Toyota Avalon had this problem?

Just started.