96 Stratus O2 sensor replacement

[Mark_p]

Engine = 2.5L, fault code indicates upstream O2 sensor. Doesn't appear to be enough clearance between engine and firewall. Can it be replace without dropping exhaust or moving engine?

Have heard you need to heat the surrounding metal to ease removal??

[lvd2340]

UPSTREAM HEATED OXYGEN SENSOR - 2.5L
REMOVAL
Raise and support vehicle.
Disconnect electrical connector from sensor.
Remove sensor using an oxygen sensor crow foot wrench such as Snap-On tool YA8875 or equivalent Upstream Heated Oxygen Sensor Removal/Installation
INSTALLATION
After removing the sensor, the exhaust manifold threads must be cleaned with an 18 mm X 1.5 + 6E tap. If reusing the original sensor, coat the sensor threads with an anti-seize compound such as Loctite® 771-64 or equivalent. New sensors have compound on the threads and do not require an additional coating. Tighten the sensor to 28 N·m (20 ft. lbs.) torque.
Connect elecrtical connector to sensor.
Lower vehicle.