All I did when I did mine (replaced all four even though only one was broken) was jack up the vehicle, remove the wheels. Screw a 4cm screw in the broken part and lever out with a small claw (small claw hammer if will fit) and a piece of wood to rest the claw on. Any that were really tight to refit I gently sanded down to reduce the diameter a touch. Regards Stephen
Good tip. Just had to replace my left rear sensor, and it broke off trying to prise it out.
First time I tried it the screw pulled out, but the hole it left allowed me to screw it in a bit further next time and it then levered out.
I was surprised how tight the new one was, despite cleaning out the gunk from the hole.
 
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