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1. Apply a liberal amount of penetrating oil (ie. WD-40) to the contact point between the oygen sensor and the exhaust manifold. Let it sit overnight. 2. Run the vehicle for about 10 minutes to warm up the exhaust manifold. 3. Shut off the engine. 4. Disconnect the positive battery post. This will prevent any electronic damage when the wiring harness is disconnected and reconnected. 5. Disconnect the plastic clip on the sensor's wiring harness. 6. Using an oxygen sensor removal socket ($30 at the auto store) unscrew the sensor. $30 seems like a lot for a socket that you may only use once, but because of the heat shield, it is about the only way to access the sensor. Initially it may take considerable force to break the threads free. Once the sensor has started to turn, you may want to apply more penetrating oil. 7. Thread in the new sensor. Make sure that the threads on the new sensor have anti-seize on them. 8. Connect the wiring harness. 9. Re-connect the battery.

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Q: How do change oxygen sensor on 2006 envoy?
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