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Did my u joints 6 months ago. Yes it is on the inside surface of the steering knuckle. Had to use a 10 mm deep socket with a 1/4 " drive (tight fit).
Find the sensor, and the tear shaped bracket, note the small hole in the bracket, look on the opposite side, you should see the bolt head.
Replaced a axle seal a month or to ago and had to take off the ABS sensor to pull the axle. Anyways it is a 12 point 6mm socket and is very hard to find at any store. It is located on the backside of the spindle, in the middle, twards the front. If you look at the front of the spindle you will see a hole in the ABS sensor bracket, on the backside is the bolt. I do belive derochas ball joint replacement thread has pics.
I went through hell trying to find the socket, ended up going to midas or some aouto repair shop and asking them, they had the 12point 6mm and I took the bolt out in the parking lot. Good luck.