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No not too difficult. It is buried down in there pretty far but I can replace one without removing anything else. It is on the front top of the engine, and as I recall it has two tiny little 5mm headed bolts with surprisingly long threads. You do not need to remove the synchronizer to swap the sensor. But the synchronizer itself can also go bad.
Cam position sensor on a 4.2 is ion top of the synchronizer shaft. Imagine the old SBF with a distributor in front, the synchronizer is like a distributor shaft and the cam position sensor tells the computer what degree of rotation the cam is on.
