I did my driver side sensors a few months ago and I remember getting the sensors unplugged was the most difficult part for me. Make sure the truck is cold or the threads can be damaged. I dont remember needing to jacking it up.
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Thanks for the recommendation on rad rubber. Awesome product.Rad rubber has new guards with all new clips for $50. My point was to follow the above. I replaced all my O2s coilpacks and plugs. So you can go big or just isolate the offending part. If the sensors don't fix it you can have a bad cat.