That actually sounds like the hub bearings themselves are going out. The best way to eliminate that though is to jack up the front of the truck and grab the tire at 6 & 12 o'clock and push in and out, if it moves back and forth at all doing this then the hub bearings need to be replaced. I do highly recommend doing both sides at the same time. Also keep in mind that it is also possible that the hub bearing can be going bad without having play in it, so even if that test doesn't produce any movement, it is possible that the bearings need replaced anyway. As for the sensor removal, there isn't really any special trick to it and if this has never been performed before, it is very possible to break the end of the sensor off during removal. The good thing is that the sensor itself is fairly cheap to replace.