I prefer to get at it from below. Disconnect the battery, Unplug it form behind the manifold, Pull the downpipe off and reach up past the d-side axle with a big wrench. If you drop the transfer case out of the way it is even easier. Don't overtighten when installing the new one.
+2 for under the car. Sucks to have to pull the DP, but WAAAAAY easier to get to. Plus you can actually see it. I'll also emphasize what was said above: do not over tighten the sensor.
Quoting imdrax:
I can EASILY get to it from the passenger side above. Literally in about 1 min.
What tool are you using? Did you clip the wire off and just put a deep socket on it? The starter makes getting a wrench on the sensor difficult but I suppose a ratchet could work.
I can also reach mine from the top of the vehicle, but i have the battery in the trunk, custom intercooler piping, and the cyclone Mani. /ubbthreads/images/graemlins/dunno.gif I can reach my arm down behind the motor and get at it with an open ended wrench.
My exhaust was already off so I hit it from the bottom with a 23mm socket after I cut the wire off and bent that tab in, then I put a little blue (med) loctite on the new one.
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