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I am interested in this as well for the same reason--my front bumper was bumped and one of the sensors seems to have been disconnected. There are good guides for removing Model S front bumpers, but I couldn't find anything for Model X...
I am trying to access the proximity (ultrasonic) sensor on the passenger side that is about a foot from the front license plate (i.e., not the one near the edge of the bumper). Thanks for suggestion, I can ask a Tesla-authorized body shop if they can be accessed on the X via the frunk.
Bump! Not sure how this happened, I might have hit something on the road. My right lower light is kind of pushed inside by half a inch. No apparent damage