Removal Procedure

WARNING: This page is about a different car, the 2004 Cadillac DeVille. However, it is still accessible from the selected car via links, so may be relevant.

Turn OFF the ignition.
Remove the rear shelf trim panel. Refer to Trim Panel Replacement - Rear Window Shelf (Without Sunshade) or Trim Panel Replacement - Rear Window Shelf (With Sunshade) in Interior Trim.
Remove the rear compartment trim. Refer to Compartment Front Trim Panel Replacement - Rear in Body Rear End.
Carefully pull the left trim panel back to access the yaw rate sensor.

Fig 1: View Of Yaw Rate Sensor, Electrical Connector & Nuts

Courtesy of GENERAL MOTORS CORP.

Remove the 2 yaw rate sensor mounting nuts (1).
Remove the yaw rate sensor (3).
Disconnect the yaw rate sensor electrical connector (2).