The service manual instructions are very generic with really no good images. Considering what is stated in step 3 below, it's understandable that you were having difficulty accessing the VSS and connector.
Vehicle Speed Sensor (VSS) (Except SHO)
Removal and Installation
Disconnect battery ground cable (14301) and positive battery cable.
Raise and suitably support vehicle on hoist.
Refer to Section 00-02.
Remove three bolts, seven nuts and Y-pipe assembly from vehicle.
Disconnect vehicle speed sensor electrical connector.
Remove vehicle speed sensor retaining bolt and vehicle speed sensor (VSS) (9E731) from transaxle.
To install, reverse Removal procedure.
Tighten VSS retaining bolt to 3.4-4.5 Nm (31-39 lb-in).
Tighten Y-pipe assembly nuts and bolts to 34-46 Nm (26-34 lb-ft).