Cam position sensors, replacement BMW E38

How to replace bad cam position sensors (CPS) on a E38, M62TU. The CPS can cause your engine to sound terrible, sluggish performance, missfires, rough idle. It is a process in where the small details eventually becomes major as the sensors deteriorates and stop working. You cannot fix it, they have to be replaced, both of them. I am not going into super detail on how to perform this since I recommend some experience before you do this work. Approx. time for the work 30 minutes. Error codes P1519