That VSS is held down with one capscrew, 10MM head probably. It's sealed with an O-Ring under it, and has a quick-disconnect plug onto it.
Be sure the area isn't caked with dirt, and it's an easy Remove/Inspect/Replace. If I had one to do, I'd clean the area around it with a small wire brush and/or hose it down with Brake Parts Cleaner.
As I recall, a new VSS does not come with that O-Ring.

The upper right end goes inside the diff housing and it "looks" at the Ring Gear going around.
For $15 delivered to my door, I'd put a new VSS in the thing before I messed with the steering wheel switches, especially with that ABS warning in addition to the cruise issue.
Amazon Link for 1994 E350/7.5L VSS