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There are 4 speed sensors. One on each wheel for the ABS, and the sensor is part of the hub. I've heard that replacing the front wheel hubs on '97-up W-Bodies is fairly easy. They are bolted on the spindle with four bolts. They are a completely sealed hub assembly. You don't have to worry about packing the bearings or replacing the seals. It's something that I myself would attempt to do if I had to. I've removed the hub from the front of my '95 Buick Regal GS to change 3 broken wheel studs (long story) and that was fairly easy. Getting the old studs out was the hardest part.
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