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How to replace drivers side o2 sensor?

vr304

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2007 ssv manual
Hi guys have a 2007 VE SS which I am replacing the o2 sensors on (pre cat) it has a set of hsv headers on it I managed to get the passenger side one out easy enough but drivers side seems to be a bitch, what’s the best way to remove it? Does the headers need to be removed from the car?
 
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