Remove passenger side foam piece around the spark plugs
Look for yellow tab on the sensor connector in the small gap between the passenger side cylinder head and inside fender wall. The yellow tab needs to be pushed out about a quarter inch to unlock. I used a thin, long screwdriver.
Contort your left arm down to the connector to push down on the yellow tab with your thumb while pushing the connector off with a very long screwdriver from the other side. A headband light is very useful to be able to see the connector in the gap.
You need a 28mm deep'ish socket. My 1-1/16th did not fit. The socket will be 1/2". I used a 3/8 converter to be able to use a stubby 3/8 wrench. It is not very hard to remove.
If you want to add an hour to the job, drop the sensor and or socket down to the bottom plastic cover. I almost did.
If you have the longer V8, you are probably doomed.

 

Thanks for that. Can you add any pictures?
It's hard to follow without seeing something.
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This is for the same engine in Range Rover. There is vastly better access on the RR.

ERASETHIShttps://www.youtube.com/watch?v=qNV_QJUBKM0