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I did this last year, it is in a very difficult location, but doable. The CPS is only held in place by one screw (don't drop it!), the part I had trouble with was releasing the wiring plug from the metal holder. I removed the passenger rear wheel, then laid on my back directly under the suspension with my head under the rotor/suspension and my legs under the engine/exhaust. I then reached up through the suspension to reach the CPS.
BTW, it is impossible to reach from the top.
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1999 Ocean Blue Metallic Boxster - blueboxster.com
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