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Speed sensors are located on the drive train, sometimes on the wheel area around the brakes, other times on the axle.
All makes and models differ so the only advice I can offer is to get a manual for your car and read up on the procedure.
In any case is should be something a DIY can accomplish, the speed sensors are accessable from under the vehicle.

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Q: Where is the vehichle speed sensor located and how do you replace it?
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