Hi all, is there a written procedure anywhere for replacing the passenger rear O2 sensor? I found a great one for front sensors of both sides online but none for rear.

When under the car, I can see the the driver rear easily and fit a sensor socket on it but the passenger rear is just PITA to me. But I can't even see the sensor itself. I saw the wires and can feel the sensor with my hands...I couldn't put the socket on, not to mention a wrench. Do I need to remove the exhaust or anyting?

Thank you very much and have a nice holiday! Oh, yes, the car, 2000 A6 with 2.7t.