I have replaced them on the G35 before. Not too bad of a job. On the G there's one on each bank on the back of the engine. Maybe a front one too, but I don't remember for sure. One plug, one bolt, and whatever you have to take off to get to it.
Your code should mention which one is bad... On the G it causes a hard start, and will sometimes cause the car to shut off. Not sure about a no-start condition. I normally discourage parts store parts, but I've had success with the standard motor products reboxed stuff from Advance Auto. In my case I needed a sensor that evening... on a friend's G price was a major factor. If I were replacing one on a car I was planning on keeping for several more years, I'd search for the Hitachi parts on
www.rockauto.com or another reliable source (e.g. not eBay or Amazon where counterfeit parts are abundant).