I looked around a bit more last night and the vast majority of what I found was directed at OBD-II systems, which a 93 Explorer isn't. It's a EEC-IV system which was somewhat compliant with OBD-I, but 3 years before OBD-II was required.
What little information I did find said that for non OBD-II systems, they (C.A.R.B. - whatever that is) really don't have any way to check the emissions system like they would be able to on OBD-II, so you might only have to subject the vehicle to the sniffer test, but you may also have to get tested through the "State Referee's Office".
I'm glad I live in a podunk state, no safety inspections and smog checks are only required in one county. At any rate, the only definitive answer would be to find a phone number for the ARB and ask them about it or take it to a testing station and see how it goes.
The Camshaft Position Sensor doesn't require any special tools, but it has to be installed in a very specific manner after you remove the intake plenum, failure to follow the install method precisely will screw up the timing. Book time to R&R the sensor is 2.4 hours, BTW.