95 Blazer LT - wheel speed sensor
 

Can someone tell me where the ABS speed sensor is located on a 1995 Blazer LT and whether this is something a not-completely-auto-illiterate person can replace themselves? The shop wants to charge me $250 for parts and labor and the OE replacement part is approximately $75 for the higher-end one. Has anyone successfully done this themselves?

I should add, the shop believes that the speed sensor is the reason my emergency brake light will not go off AND the reason that my cruise control stopped working. I reviewed a thread that talked about the relationship b/n the sensor and the ABS, but my ABS light is not on. The cruise control makes a "clicking" sound and will hold the speed for about 2 seconds, then loses it. I was told the cruise cannot work without a properly functioning speed sensor.