How to replace Camshaft position sensor EXHAUST SIDE on a 03 BMW Z4. P0340.

I did this as a series of steps to try and correct my car randomly shutting off on me. While replacing the intake camshaft position sensor was my main focus, I decided to replace the exhaust side as well.
UPDATE: My car would randomly stall out while driving but no fault code was being thrown. Although this worked for other people, this did not work for me. I did a number of things to try to fix the issue and I uploaded videos of them too. I ruled out the MAF sensor and fuel pulp, cleaned the EGR secondary air injection pump check valve, cleaned the idle speed control valve, and replaced both camshaft position sensors. I finally corrected the issue after replacing my crankshaft position sensor.