I think you can get in there without taking off the tire but it’s much easier if you remove it so that when it doesn’t come out easily, you can wiggle it out
A good scanner tells you which one is not working. They are cheap so just buy them all if you don’t have a scanner. The hardest part is to get it well lubricated with a penetrating oil so it comes out easily. You don’t want to break it ;)
Yes you must reset with a scanner that works with abs, like this one ☝️www.amazon.com/dp/B07BS7PDC2/ref=cm_sw_r_as_gl_api_gl_i_K4Y1X36AKT4NY82QQ95G?linkCode=ml1&tag=janw.vanderba-20