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Welcome aboard......Should be pretty straight forward....screw out.... screw in.....have you located it ? I am a diesel....but most 02 sensors are in one of the exhaust manifolds
A bit further info... you want to replace the sensors between the engine and cats; not after the cats. No need unless you are getting a code for those. Also, if you can't loosen the sensors on a cold engine, warm it up for a couple minutes and try again.