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I had to swap my sensor back in the fall. Yes it was a major pain in the ass err arm/hand but I did not have to remove the reservoir or brake system/lines.
I did unbolt the ABS system at its mounting point but only to push it out of the way about 1/2"and I removed the bracket around the vaccuum lines wear they go through the firewall towards the engine. If you remove that plastic piece that keeps the lines from shaking around it allows you to move the vacuum line a decent amount.
I wear a XL glove for reference, so most peoples hands should fit just fine.
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