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it is harder to remove with a colder engine. if it's been sitting, run it for a minute or two but be careful not to burn yourself after. disconnect neg side of battery. from underneath the vehicle, disconnect the electrical connector from the sensor. unscrew sensor from manifold. they sell a special socket for this. if reusing old one, put antisieze on the threads. install new one and tighten securely. reconnect the electrical conector to the wireing harness. take for test drive to make sure no new trouble codes set.
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