i have a similar problem at the moment but not just when turning left. managed to get all sensors out bar one which would not budge, had to mangle it a bit to get it out but i had already bought a new one from a guy on ebay.de for 68 quid including postage.
this is what mine looked like
i believe this is the other type mentioned by quantumjohn
sensor in place................
..........cover removed
i used lots of release oil like wd40 or dpr or something, then held a big blade screwdriver as shown to apply a bit of pressure on it , not too much, then wiggle the sensor by hand, even just back and forth - side to side and it will come free. this only worked for me on 3 out of 4 so maybe there is a better way.
after getting all four out and cleaning both the sensors and the surrounding area, the problem disappeared. unfortunately it came back after two days. have since asked an audi technician and he reckons it could be a wheel bearing at fault and it is affecting the gap of the sensor, this could be true as in the past i have had a very slight noise at around 50mph , but now seems noticable at other speeds. should be able to just push the sensor back in and it will be ok again, but of course this is not a permanent fix.
want to do the bearing myself, just have to pick my time to do it.