Bosch 13115 = approx. $70 at Napa... make sure you get OE style, not universal... otherwise you will have to splice on a connector... OE style has connectors... just plug it in....
The front sensor is relatively easy to get to, the rear one is a true pain in the butt (I had to remove the upper manifold and coil pack and could still BARELY get the socket onto the sensor)