LR3 Upstream Oxygen Sensor Replacement

[Silmarillion]

Does anyone have a good guide on how to replace the O2 sensor? I'm trying to replace the one on the US driver's side. I see where it is and I know I need to unscrew it, use anti seize paste, and reconnect it. I can't get my arm up there, around the exhaust. Simply not enough room for my forearm.

Smaller arms or are there other methods?

 

[johnsoax]

The service manual says to unbolt the front of both Cats to get to the O2 sensors.