2001 3.0 Litre POST O2 Oxygen Sensor replacement HOW TO

[PJC01X5]

I have an error for POST catalytic converter O2 Oxygen Sensor and want to do it myself. On the SIX cylinder the two pipes are very close together and in a tight spot. I will get a tool designed to help but it looks as if the mid section of exhaust pipes need to be unbolted and lowered. I have also read that the professional procedure says to lower the exhaust. Has anyone done one lately on a very similar X5. DO not chime in on V-8, please as this would be a lot easier due to separate sides and 50% more room to work. Also I ordered Bosch 15109 sensors and would love to know for sure if they are 100% compatible.
Also even if I get the sensors of fine... can I get access to the PLUG easily? Thanks!!