Possibly that is correct,
Unless you have very small hands,
I haven’t replaced mine,
But, I did notice the location of one (LHS) when I had to remove the exhaust manifold for another job I was doing, (checking it for cracks)
And thought what a PITA it would be to replace them.
Replacing the sensors are easy,
It’s removing the heat shield, and the manifold will be the difficult part,
If the manifolds haven’t been removed before, the bolts a damn tight,
And care to be taken not to snap them off, especially on the Engine pipe, make sure you use WD40 or similar,
The bolts on the bottom of the manifolds is all done by feel, (working from the top)
Make sure you use a smear of “grease” on the manifold bolt threads,
“not copper coat”
as copper and aluminium can have a chemical reaction.
But use copper coat on the engine pipe to manifold nuts, and caution on tensioning them.
Cleaning the manifold mating surfaces will be critical for re-fitment so they don’t leak.
Believe me, it won’t be a quick job to do.
Edit :
I just notice you mentioned its a VE your talking about,
some VE's have different exhaust manifolds, so you may be in luck to be able replaced them a bit easier,
Dont forget to check the loom for damage and re-fit the heat shields.