In addition to the above comments, if you do this yourself be prepared with a propane torch and a long breaker bar. Oxygen sensor are often difficult to get out due to normal corrosion. Shops have the lift (a critical item IMHO) and the tools and experience to do the job. It can be really tough lying on your back under the vehicle.
Which reminds me, if you proceed with this be absolutely certain that the vehicle is extremely stable on its stands before getting under it. You’ll be using significant force to get the sensor out, and people die when their vehicles fall off the stands on them.