They're known to be rusted on pretty well (and for some, practically brazed to the tailpipe), but that's the worst of it. My bolts were rusted up pretty bad and I was really worried about snapping or rounding them off, so I soaked them with
PB for a couple days and they came off pretty easily. Otherwise it's very easy, all in all it should take maybe 30 minutes at most. Just make you sure you order the right ones, otherwise the plugs won't align (might not even reach) and it'll drive funky if you force it.. Trust me

I believe I used the find-my-part on Denso's website for it
Go ahead and take a peek underneath your car and try to find them; you should have one before
and after your catalytic converter, and really shouldn't be out of the way. If you have two cats, you have a Cali. emissions system, and should order the part accordingly. If I recall, cali T4Rs used an O2 and
A/F sensor, whereas others used two O2 sensors - this is what screwed me initially, if I remember correctly, but I could have it wrong