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

[d-rod]

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

 

[Overtow]

What did you do to get to the passenger side sensors? Any guidance for someone who is about to take this on?

I'll probably end up taking pics to provide a guide in the next few days...