Not hard. You will need a sensor wrench to get them out however. Work
carefully, try not to break things--the exhaust system may be a bit
fragile at this age. Be sure to note the sensor wiring path, and
duplicate it as close as you can to prevent damage to the wires.
Also I recommend you use direct replacements and not universal ones. The
universal ones will work, but are harder to install because you have to
assemble the connectors and get it right.
Sensors were about $70 last time I checked. My CarQuest terminal is down
so I can't check prices for you now...
Unlike some cars/trucks these sensors are relatively forgiving.
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