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Once you remove the air cleaner on whatever side you going to change, the sensor is right there staring you in the face. You just need to buy the proper "sensor" socket. To see how to remove the air cleaners just look at youtube videos of how to change the spark plugs, because that's the first step in doing that. I couldn't find any videos that just showed the sensor removal, but it's just a matter of unscrewing it and routing the sensor wire.
For the socket, Google 22 mm O2 Sensor Socket
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