It's pretty easy to get to. Here's a shot from the driver's side:

Sorry it's not a little clearer. Look at the top center of the picture, you'll see the two plugs for the crank & cam sensors. I'd probably remove that aluminum intake support bracket, then open up the cover plate of the long back conduit while you're in there. Let us know what you find. That conduit contains wires for the sensors, fuel injectors, alternator and some other stuff. I'd want it to be nice and dry and clean.
Yep - you just spray the contact cleaner onto the unplugged connector terminals, not the wire or the sensor. It'll fizz a little, then plug them together wet or dry. You can get some dielectric grease in there too, if it's vulnerable to water. The grease keeps water out and prevents future corrosion.
As for the testing, well that's a whole thread on its own. Read the Bentley manual for some testing procedures. Some things are easy to test, depends on the sensor.
Don't give up...just take a break & think it over. Took me three days and a tow to get my car running, and I've been doing this for longer than I care to remember. It's so worth it when you fix it, feel confident in the car and you're not worrying about every little noise.