BMW E46 ASC DSC Brake pressure sensor 2 error 5E21

This is a well known BMW E46 error , after some time sensors gets old, dirty or damaged and cause this well known error "Brake pressure sensor 2 electrical failure. Fix is not hard, but the location of the sensors is a bit tricky, but in this guide i will show you how to replace it with a minimal dissasembly+diagnostic and all steps are included.