REAR ABS SENSOR INSTALL

What is your question?

I have a 2010 Toyota Venza/V6. Last week out of the blue the dreaded ABS/VSC lights came on.Fortunately a friend has a toyota scan tool and seems that the rear passenger wheel sensor is bad.I can buy the part for around $110.00 OEM Toyota.My question is how difficult is it to replace this part,without ripping my vehicle to pieces to make the connections.If anyone could offer some advise on this matter.I would appreciate.Thanks Dave J/NJ