I find that the plastic tends to stick to the metal upright / knuckle... it must be the heat cycling that does it? Gently prying with a flat-head screwdriver should see them safely removed. I guess penetrating spray couldn't hurt?
Is the 'sensing' end of the sensor visible on your hubs? I've noticed that the passive wheel speed sensors on older cars tend to pick up the steel shavings off the hub over the years (looks like flakes of steel wool).
The shavings collect on the magnetic sensor then rust together over time... this can sometimes make removing the sensor difficult. It'd be worth taking a look into the hubs (if they're not accessible from the outside) after you pop the sensor out to make sure you don't have a cake of rusty steel floating around in there with your wheel bearings...
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