[A8] Front right oxygen sensor

[Rich, Jack]

Anyone know how to get at the front oxygen sensor on the right side?  Bentley is most unhelpful, the only reference I could find was on removing the exhaust manifold, which starts with removing the engine cover and air intake duct, disconnecting the wire to the oxygen sensor, all of which I've done.  And then the grand finale, "Remove oxygen sensor."

It is inaccessible.  It thought maybe I could get to it from below, but after removing the floor pan, I find there is even less access.  I can touch the oxygen sensor with a  wrench, but not in a way that lets me actually turn it.

Jack Rich