2018 stock GT o2 sensor removal question

[1BigDog]

I have a 2018 GT, stock exhaust and I need to replace my upstream o2 sensors. 41k on the mileage. I have done this plenty of times with no issues. However I have never seen one placed in such an awkward spot. My question is to those who have ever replaced these before. Any special tools? were you able to do this without dropping the exhaust? Ford dealer gets 2 hours labor for the upstreams vs 1/2 hour labor for the downstream so that tells me something as far as difficulty goes. Any suggestions would be appreciated.
Thanks

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[Ramairetransam]

i have no knowledge but did you check youtube.

 

[1BigDog]

i have no knowledge but did you check youtube.

Nothing worthwhile on YouTube on one without headers. I did order a specialty o2 removal tool set so ill be giving them a try next week

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