Sometimes the sensor is tough, depends how much corrosion. Other than that it is easy. I suggest using a sensor removal socket, makes it much easier, especially if it is a tough one.

Use OEM or OE sensor only.

Yes, those codes can be caused by o2 sensor. Test them first!

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X5 4.6 2002 Black Sap, Black interior. 2013 X5M Melbourne Red, Bamboo interior
Dallas