ohhh that would be great!
Are you serious about it?

 

You don't need to remove the intake manifold. Just remove the throttle body to get the EGR sensor out. You only need to modify a 14mm deepwell socket with a slit like an oxygen sensor socket has for the wire. There are a bunch of wire ties that have to be removed. The sensor may be tested with an ohm meter and boiling hot water, per Bentley. Be sure to put antiseize compound on the sensor before reinstalling it.

 

Mmm... Not quite that way on the 12v...

 

I have done this with the 2.8L 12 valve AFC engine on my 1996 A6 Quattro sedan. There is just enough room for a small 1/4" socket wrench and a 14mm deepwell socket slit for the wire. If the EGR sensor is very tight, just put a hose clamp around the tip of the socket to keep it from spreading wider and use a small pipe on the wrench handle.
The EGR sensor is as shown in Cefro's pictures at the bottom of the intake manifold near the throttle body opposite the EGR valve.

 

DOH!! You said sensor... Sorry I kept thinking about the EGR valve itself...