I would love to see a good DIY video/pics for doing this replacement on an E70. I've found others for different model BMW's and they seem so much easier.

I'm also getting code:
- Fault: Heater for lambda probe front catalyst 2
- Code: 002C9D

Which, if I am reading correctly, indicates a probable fault with my O2 sensor as well. And since it refers to "catalyst 2", is that to mean it's #2 in this diagram?

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