I don't think jacking the truck would help. personally, with something as important as the O2 sensor, I think its worth it to do it yourself, it just isn't easy. I wouldn't trust a radio shack connector for that, especially considering how hot those wires get, I think the chance for wire seperation would be pretty good, but hey, we're always up for easier ways of doing things! As long as you took some precautions to make sure the connection didn't come apart...
I was ALMOST able to reach the connector on the passenger side from the underside of the vehicle, but not quite. I could touch it, but couldn't get a grab on it.