WARNING: This page is about a different car, the 2002 Lexus ES 300. However, it is still accessible from the selected car via links, so may be relevant.
Remove front wheel and front fender liner.
Disconnect speed sensor harness connector and clamp. See Fig 1.
Remove 2 clamp bolts (A, B) holding sensor harness and clamp from body and shock absorber. See Fig 2.