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Ratchet, 10 mm socket, and socket extension. That will reach the bolt.
Once the bolt is out, it takes some work to get the old cps out of there. Takes the same amount of work to pop the new one in. I changed mine from underneath and found better leverage that way.
Just be patient with it. Mine was in there pretty good and took me about 20 minutes from start to finish. That's a long time for one bolt and little sensor.