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You have 2 upstream sensors, 1 for each bank. Relatively easy to get to, but you may find them rusted/corroded in, making them a PITA to remove. I will use a Dremmel and cut off the sensor body at the hex and put a socket on it. PB Blaster and heat will also help.

With that said, OBDII closely monitors O2 switching rates, and will kick out a code for a lazy sensor.

Have the sensors been contaminated with antifreeze from a blown HG, leaking intake gaskets, etc? If so, replace them, as they may switch correctly, but have a "chemical shift" in the transfer function whigh will effect gas mileage and drivability.
 
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