1997 Ford Taurus Vehicle Speed Sensor

1997 Ford Taurus GL wagon, VIN U pushrod engine AXOD transmission.

The speedometer does not register. The first speed sensor where you drop the Y pipe has been switched out. The second speed sensor at the passenger'
s side CV shaft may well be the culprit. I'm throwing a PO500 code as well.
I was told to reach this the front cross member has to be dropped. This looks like an extensive and expensive job.

Is there an easier way to change this Vehicle Speed Sensor??

Thanks in advance.