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Remove the passenger side front tire, then remove the black plastic molding around the inside of the fender. The sensor will almost be eye level if you're sitting down with the car jacked up a bit. It is towards the back of the engine, with a black plug and three wires coming out of the plug. There is just one 10mm both holding it in place. Remove the bolt and the sensor should slide right out. Just slide the new one in and plug it back up. You may have to undo your negative battery cable for at least 10 minutes to reset the code. It's a very simple procedure that just about anyone can do. The hardest part is finding the sensor to begin with, in which case I assume this will work on all VQ40DE engines which are in some Frontiers, Xterras, and Pathfinders 2005-Present.
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