I haven't changed an ABS sensor on a D2 for probably nearly 20 years, which perhaps not surprisingly was much less stuck than yours. I did one last year on my brothers A4 where the body snapped, liberal use of a drill (plastic sensor, cast hole so easy to drill out) got it cleaned out in no time.... The snapped bolt will be more challenging but suspect it is going to be the same basic technique with the addition of some more precision and a tap!
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