Do I need to remove the exhaust system to get access to remove the sensor. I see no other way.

B1S2 on a Max is the easy one, B2S2 is the one that's stuck up inside the J. The S1's are opposite, B1S1 requires removing the cowl or tilting the subframe, B2S1 is pretty open. Cut the wire and use a box wrench like this vid:
https://www.youtube.com/watch?app=desktop&v=tpx9HjCqBMI

If you have to use a slotted socket, tighten a stainless band clamp around the base of the slot to keep it from spreading.

The video you sent me is from a 2002 and 2003 Maxima. The one I have is the 2014 Maxima. Looking at the video it seems like a different layout. AM I missing something?

Well crap, that's right. It's been awhile since I did any exhaust work and they did change some stuff when they went to the dragger version of the VQ, including putting the rear O2's at the converter base. My bad. You do need to drop the Y from the converters to get a wrench on those, but that isn't usually a big deal if you soak them first and use an impact. They're hefty studs, it's rare for them to seize completely. It's rough with hand tools, though.

I give up, I will see how much the local shop wants and go from there. Thanks for your suggestion.

Chilton lists 0.7 hours and Motor lists 0.5, so don't let them charge you more than an hour unless they need to replace studs or heli-coil the pipe. If they do, make them show you the old parts. Those sensors are a favorite job for overquoting "just in case" and hosing the customer.

Thank you!

I was able to remove it with a geared box wrench. The one I used had a short click. After I broke it loose, I just went little by little until I could unscrew it by hand.