It's right behind the turbo, unfortunately. Here's a pic of the stock precat, just for reference:

You can see where the bungs are for the O2 sensor.
If you had downpipes, things would be much easier, as most companies relocate the bung lower, for easier access:
As far as methods for getting it out, I would suggest one of the following ways:
1. Creativity
2. Flexibility
Good luck!
EDIT:
Here's a good visual representation from the FSM:
