This is a relatively easy operation for the do-it-yourself (DIY) type owner. The following pictures describe the process.
01) The 3/8” inch oxygen sensor tool was a handy item to help make the job go fast.

02) The front O2 sensor can be located on back of the front exhaust manifold.

03) The 3/8” oxygen sensor tool with a flexible head 3/8-drive ratchet attached.

04) With the O2 sensor removed, the hole in the exhaust is in clear sight.
05) The rear O2 sensor is located just above the axle on the US passenger side.

06) A picture of the sensor with the sensor tool is below.

07) Open exhaust pipe hole with the sensor removed.

08) The front O2 sensor plug.

09) The rear O2 sensor plug.
10) The old sensors.

