I replaced both front and rear ABS sensors. the rear one was VERY difficult to replace in fact the end broke off while I was extracting it from the hub, hence I had to remove the hub entirely to get the broken piece ABS sensor out of the hub. I did in fact look inside at the teeth and saw no abnormalities, so I reinstalled it back on the vehicle with the new sensor. The front sensor was easily replaced looking inside the hole for the front hub was not easily done but what I could see didn't throw and red flag up. I was told there is a magnetic ring inside there and it could be cracked causing the issue.