Car has P0135 02 Heater Circuit Bank 1 Sensor 1 code.

Test for battery voltage to the sensors heater circuit. If OK then ohm heater circuit. Should be 3-30 ohms. If it's not replace sensor. To replace the sensor use an oxygen sensor socket and with a warm engine - not hot, not cold - remove sensor. Keep in mind... I'm in Florida so I don't have rust issues like you might. You might be better off taking it to a shop incase it needs to be heated up to get out. You don't want to round off the sensor or strip the treads in the exhaust. That will get expensive to repair.

agree with justin