How do ya reach the front O2 sensors on a 2001 3.5L?

[cpainter]

I've searched for DIY instructions till I can't see straight and all I get is "remove old sensor and replace with new sensor". I need a little more detailed advice than that. I know where they are and where the harness connection is, but I can't for the life of me figure out how I'm going to control the new sensor enough to get the threads started IF I could manage to get the old sensor out. I could use a wobble adapter to get the old one out, maybe, but I'm reluctant to even attempt it if I won't be able to get a new sensor started in the hole.

 

Has anyone ever done this successfully without removing the engine? Can anyone direct me towards some advice on how to get tools on those damned things?

 

I'm at my wits end. Any help you could give would be greatly appreciated. Teach me, oh wise ones.....