99.5 QX4, new to me.

My SES light came on and the code is P0158 and indicates the circuit voltage is high. Reading the code says it is the rear oxygen sensor. Will replacing this sensor fix the problem? If so, can you tell me where the sensor is located on the car? Driver or passenger side? I would like to replace the part myself if it's possible. I found the part online but can't see the part on the car.

New owner