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no its easy. go under truck and remove sheild were y pipe is at has 3 bolts (1. 13mm and 2x 8mm or 10mm) the shelid well drop down and you can remove it with a 1 1/16 12point line crowsfoot.
if you cant get your arm up there you can remve the shift linkage from the side of the trans and move it aside it will give you more room. also on a 4x4 if you drop the front have of the drive shaft
normal for us is 4hours total and it breaks down as such. 2 hours diag. 2 hour replace icp and replace harness connector. the sensor is something like 190.00 i think but can be bought at international cheeper.