A3 8P2 Parking Sensors.

A19quattro

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Does anyone know how you remove these from teh bumper? I had a look through the FAQ section last night but don't see anything about it. I beleive I have the genuine Audi ones, I need to change one, I know which one but not how to get it out of the bumper, I guess it can't be that hard, has anyone on here done it?
 
Unclip how though, do I need a screwdriver, do I just pull/twist, do they come out from the back or front? Prefer not to break them and hoping to do it without removing the bumper.