I just changed one this past weekend. On the rear wheels the sensor is part of the rear hub assembly for each wheel. It comes as part of the hub assembly when you buy a new hub assembly in order to replace the bearing. There is a long black cable that extends from the hub assembly to the connector of the Pacifica.
The ABS speed sensors are located on each wheel a toner ring is located on the c.v. joint and sensor is bolted thru the wheel bearing hud
Behind each of the front wheel hub
Have to follow the wires to find the rear sensors
The internet should have a picture,easier to just look under the car
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