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The Yaw sensor isnt that expensive, (about £100 for a refurbed one off ebay) If I remember it sits at the top of the steering column. Hard place to get to put a new one in... doable though :)
 

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I have found where it lives but still trying to figure out how to remove it :unsure: I can feel the nuts on the bracket but getting a socket on would be a show worthy of screen and stage 🤦‍♂️
If I remember I put a socket on then a small 1/4" ratchet (didnt go 100% in the socket) It's a pain but you'll be able to do it 😅
 
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