how does one check tps voltage without pricking the wire with a probe or jamming a pin into the connector and damaging it?

Thanks

 

Remove the plug from the sensor and check voltage. No damage will be done.

It is my understanding that you need a pgmfi test harness to check voltages at the ecu. It's a harness that goes in between the ecu and ecu plugs. I've never seen one to be honest. Are there any other ways to check voltages at the ecu?