You don't necessarily have to remove the sensor to test it. The best - and easiest - place to test the sensor is at the ECU connector. Not only do you confirm the sensor(s), but also the wiring in between.

Only if the sensors are not within spec will you have to test at the sensor itself. Depending on the position of the retaining clip, you might be able to press it with a screwdriver and simultaneously pull on the connector.

Also moving the IAC and intake manifold hose out of the way will give you some extra room to poke around. Other than that I'm afraid removing the intake is the only other alternative, and you might not believe it but it could actually save you some time.