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I just changed the ICP sensor on my 03, and it took about 2 minutes. First go from underneath, and take the heat sheild off that blocks it. Mine has been off for about 4 years. That is the hardest part. Then get a 1 1/16ths boxed end wrench, and cut it right in half.

It should be about 5 inches long. Reach up, and unplug the sensor, you will see it up under the y-pipe if you look from the drivers side underneath past the tranny and Exhaust manifold.


Stick the wrench up there, and slide it on, it should stay. I had to use a long pry bar and tap it with a hammer to break it loose. Then reach up there, unscrew it, and screw the new one in and tighten it with the wrench. Your working blind, but its not bad at all.
 
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