No, looks impossible to go beneath.
I had to pull and pull to get the wire harness pulled towards the front of the engine. Slipped my hand in the back by the firewall and than put the O2 socket on. Than I pushed the wire harness back towards the firwall as much as possible and slid a long wrench in between that fit the 02 Socket and turn a little at a time. Finally it came off. Now was the trouble to put the new one on. Well thank god im thin and managed to slip my hand between the engine and wire harness. That took alot of work, pain and some blood.
Damn I even forgot to have a beer while doing the job. Would had made it so much better.
Engine light hasn't come back yet though. Ill be pissed if it does.