There have been a few threads lately regarding this, try a search. Here's a really simplified version: open your hood, far left near strut tower is power steering resevoir, move that, then untighten the screw connected to the top of the ECU. Go inside your car, passenger feet area and look up. There is a nut holding a backet holding the ecu. remove the nut, and gently rock the ecu back and forth to remove it. Make sure your key is not in the ignition.
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