It's simple. One 10-12mm socket size bolt holds the sensor in the wheel knuckle. Remove this and clean the sensor w/ rag. Stuff the rag down the hole where sensor was installed till pushed against the "tone ring" (part of cv axle or rear axle). Turn the axle to clean the tone ring.

good luck

 

If you need to replace it, Dorman makes some decent products, never used their abs sensors but have used other products by them. On my cars, I've only had to replace one abs sensor, I replaced it with a Raybestos/Affinia sensor...that was ~6 six years ago. No issues, just my personal experience. Glad you have found the source and have a plan(s) to get it resolved.

 

Thanks all for the advice. I will update when this is resolved.