I did this just (last?) weekend.
Error code P0155.
Remove the plastic "splash shield that cover the transmission (6 bolts, 12 mm). Follow the exhaust pipe up and you will see the O2 sensor clearly. I did post a picture, will try to find the post and link to it here.
You can easily get to it with properly sized crescent wrench, or a fixed wrench. I'll be running down to basement and provide the measurement in a little while.
If you cannot get it lose, start car and run fora short whle in order to heat up the exhaust. Might be easier getting to it then (note, I had not problems with either of the front ones).
When re-installing, add anti-seize, but MAKE SURE you keep the acual sensor clean!