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Before attempting this step, assess how rusty your oxygen sensor is and how long it has been since it was replaced. If it looks very rusty, or if you live in a rainy/salty climate, soak the sensor nearest the downpipe with a penetrant like PB Blaster every few hours for a whole day before you try to wrench it off. You definitely don't want to strip this thing.

Thread the oxygen sensor wires through the slot in the oxygen sensor wrench.

With the socket seated as best you can on the hex head of the oxygen sensor, use all the strength you can muster to crack it free from its prison in the downpipe.

Luckily, mine broke free pretty easily. It'll happen pretty abruptly so be careful-my hand required a couple band-aids after smacking it against the manifold.

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