Air Fuel Ratio Sensor: Removal

WARNING: This page is about a different car, the 2008 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 Sensor 1)
1. Disconnect the sensor connector.
2. Using SST, remove the sensor from the exhaust manifold.
  SST 09224-00010
  
  Fig 1: Identifying Air Fuel Ratio Sensor (For Sensor 1)
  Courtesy of © TOYOTA, LICENSE AGREEMENT TMS1002