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The one you need is just before the cat, quite awkward to get to cause of all the heat shielding plate, i couldn't do it using a large adjustable so i borrowed a normal one.
What did you do, just undo the bolts, clean it and replace it? Im obviously not very educated about car mechanics but would prefer to try this before commiting to garage costs!
The lambda sensor has a big nut round it, i it's a 22 spanner or something round that mark, click the link below & it will show you a pic of a lambda sensor so you know what your looking for...