Just did all 3 on a 96 with lotsa miles. Soaked with Liquid wrench the night before, in the morning, started and left it run for about 3 minutes to warm up the exhaust manifolds and the pipe threads. The heat will expand the threads and help release the sensor. Used a 7/8 open end to loosen them all, not too tough. BE CAREFULL of the HOT metal!!
WDP