Air Fuel Ratio Sensor: Removal

WARNING: This page is about a different car, the 2007 Toyota RAV4. However, it is still accessible from the selected car via links, so may be relevant.

DISCONNECT CABLE FROM NEGATIVE BATTERY TERMINAL
CAUTION: Wait at least 90 seconds after disconnecting the cable from the negative (-) battery terminal to prevent airbag and seat belt pretensioner activation.
REMOVE AIR FUEL RATIO SENSOR (for Bank 1 Sensor 1)
1. Disconnect the sensor connector.
2. Using SST, remove the sensor from the exhaust manifold.
  SST 09224-00010
  
  Fig 1: Removing Sensor From Exhaust Manifold
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002