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Two sensors total, one on the front left brake caliper and the rear one on the diagonal, the right side.
Go to the link below for Bodsy's Brake Bible; look for the latest version which as of this post is V1.6a. It is 36 pdf pages with all the answers and pictures re everything brakes on the 3; the parking brake included and how to put it in the service mode. The section re sensors starts on page 18 of the Bible.
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