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What is your question?
What are the basic steps to replace a AF/O2 sensor on bank 1?
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Hello, Bank one will reference the side of the engine with the #1 cylinder on it. Removal is simple, just get the O2 sensor socket, or any pass-through type socket that fits, unplug the sensor, unscrew it, and revers to put it back on. Make sure you use anti-seize when you put it back on. If you cannot get the sensor out, you may have to use heat (torch) to break it loose. Not something recommended for the DIYer. Also, if it is sensor 1 bank one, it is close to the engine. If it is sensor 2 bank 2, it is close to the rear doors. After installation, the vehicle will self-test and shut off the check engine light once it has passed and reset the monitors. a few days, maybe a week.
In this case the sensor is between engine and firewall. I cannot reach it from the underside or the top, without removing quite a few parts. Is there any tips or tricks on this specific van?
The only thing you can do is rock the engine forward by removing the fasteners for a motor mounts. The engine and transmission have to be supported during this process by a engine brace (there are creative ways on youtube but be careful). Make sure you don't remove all of the engine and transmission mounts, as you don't want it swinging wildly as you work. Also, don't rest the engine oil pan on a jack stand. It will go right through.