This is a detailed video on how to replace primary (Upstream) oxygen sensor that is located in the exhaust pipe before the catalytic converter. This is a 6 gen J Series Honda Accord and Acura…
How to replace primary(upstream) oxygen sensor on V6 Honda Accord and Acura 1998-2002 (J Series DIY)
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 oxygen sensor on V6 Honda Accord and Acura 1998-2002 (J Series DIY)')){kind=link}
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Pb blaster would help loosen it off its threads. Also invest in some
jackstands its better to be safe then sorry.