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Rear Passenger Sensor - https://www.buycarparts.co.uk/triscan/7659430
Rear Driver Sensor - https://www.buycarparts.co.uk/triscan/7659429
They're from Germany, so take a few days but they work fine.
It is easier with the engine out, but only when it's out for other reasons like @Old Tarby! said.
Otherwise you'd have to remove a lot of stuff just to get it out, power steering lines and all sorts.
They're linked to the phones/Amazon accounts that you have set them up with.
If you use separate phones for each Echo device, you will be able to play music on each device on its own.