The sensor is bolted in . It removes straight back but it most likely to be stuck in with crud .
The way we got mine out was to remove the rear disk and push it through that way . [Thats how i know ] But with good access and some patience it should come out without having to do this.
VAG-COM will in the main only tell you of faulty sensors , so in terms of that its a one in one out job i beleive .