O2 sensor replacement

[Everling]

Hey guys, been about 1yr/10k miles since I got my crank hub replaced along with changing out my DPs to VRSF DPs and I got the 12B304 code. Looks like it’s the post cat bank 1 sensor. I know to properly do a DP install, you have to work from the top of engine bay and bottom of car. My question is if I just want to replace this o2 sensor (post cat, longer DP pipe), can I get away with working just from the bottom? Also will I have to remove the DP to be able to unscrew the o2 sensor? I have a 4 post lift and did take a look under the car and it looks like a very tight space but I haven’t tried putting any tools in the area yet. Wondering if anyone else has had to do this and what was your experience. If it requires complete removal of both pipes and work from top and bottom, I may just wait for when I have to switch back to stock to smog the car in a few months.