RepairPal Certified shops can diagnose and repair your 2000 Mercedes-Benz C43 AMG. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.
Once your are SURE that you have the correct sensor located, i.e bank 1 vs bank 2, then you basically use your wits and remove as much as you have to remove. Having the car up on a lift can help, because you can often get to the sensor from underneath.