Help with Bank 1 (Passenger Side) Oxygen Sensors (O2) Access/Replacement

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d-rod

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Would anyone be able to lend guidance for how to access to replace the Oxygen Sensors (O2) on bank 1 (passenger side)? The driver side was easy-peasy but the passenger side is quite challenging to reach due to the heat shield being so close. Hopefully there is a way to reach without dropping the cat assembly??

2020 Limited Max 2WD
 
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