Here is the wiring diagram for the PAM. Disconnect the connectors and test the resistance of both speakers. I don't know the exact value but they both should be the same (I'm guessing around 8 ohm). This should help diagnose if the speakers are bad.
Next step would be to test the sensors somehow.
Replacing the module should be straight forward. You can buy a used one from a junkyard. I don't know if they need to be programmed but I doubt it. I don't have a PAM so I can't check my configuration. You can look at the PAM as-built data with Forscan and an extended license. I'm sure this can be fixed without having to go to a dealership.
PAM wiring diagram.pdf