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No, you only need 1 sensor per caliper where each sensor has 2 wear indicators.
I went with ZImmerman + Pagid for both front and rear:
Front:
https://www.fcpeuro.com/products/vw-brake-kit-front-touareg-pagid-touaregfrbk1
Rear:
https://www.fcpeuro.com/products/audi-vw-brake-kit-rear-touareg-q7-pagid-touarearbk1

For rear caliper bolts, you need a M16 triple square bit. That bolt is very tight. I got below set.
https://www.amazon.com/gp/product/B007UQLR9U/ref=oh_aui_detailpage_o01_s00?ie=UTF8&psc=1

For rears, 18" breaker bar for rear fits the perfectly to the wheel area and makes the job easier.
https://www.harborfreight.com/hand-tools/sockets-ratchets/12-in-drive-18-in-breaker-bar-67932.html
 
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