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Easiest way, get a garage to do it.

Failing that, if there is room around the lambda then use a lambda socket, if not enough room, cut wire off lambda and use appropriate sized ring spanner.

Sent from my Iphone using Lexus OC

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the two main air/fuel ratio sensors are easy to replace with a standard lambda socket. Only use a Denso sensor, but get the aftermarket one rather than a Toyota boxed one to save £££. I've used sparkplugs.co.uk in the past and would recommend them.

The rear O2 sensor is more of a pain because you have to take up some of the passenger carpet, or cut it, to get to the plug. However that one is much less likely to fail.

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