Up stream O2 sensor replacement

Working on a 2011 4runner sr5. Has anyone on here successfully changed their up stream 02 sensors? I went in this morning to pull them out and I couldn’t, for the life of me, get to them. They are in a very difficult spot. Any instruction, tips or trick or special tools (besides the o2 socket) that makes this job easier or just doable.
TIA,
Mike

 

Maybe this will help: https://www.youtube.com/watch?v=X2NkNtsHubI

 

Thanks Rob41 unfortunately the video only talks about the downstream O2 sensors which are pretty easy to reach.

 

Bummer. If you don't find out here, please come back and post how you do it. I know from experience, changing O2 sensors on vehicles North of 75k miles (even if well maintained) makes a difference.

The only thing I can say is they are usually difficult to get out as they are in the exhaust. Use caution, but heat is your friend along with bees wax or another penetrant.