Oxygen sensors are installed at the front and rear of the near-engine catalytic converter. Before removing the sensors, use a BMW scan tool or equivalent to read out and clear ECM fault codes. Handle oxygen sensors with care, as they can be easily damaged by shock. To prevent engine damage, mark the connectors before disassembling to avoid mixing them up. Begin by raising the vehicle and supporting it safely, then remove the front and rear engine lower covers and the rear coil cover. Disconnect the oxygen sensor harness connectors, and if necessary, remove the fastener and connector bracket. The pre-catalyst wiring is grey, while the post-catalyst wiring is black. For the pre-catalyst oxygen sensor, release the right side tie rod from the steering rack, remove the fasteners, and take off the heat shield. Use BMW special tools 11 7 030 and 11 9 150 to remove the pre-catalyst oxygen sensor. During installation, apply a small amount of anti-seize lubricant to the sensor threads and ensure the electrical harness connectors are routed and connected correctly. Use anti-seize lubricant sparingly and avoid contaminating the tip of the sensor. When using tools 11 7 030 and 11 9 150 together, reduce the tightening torque by 3 Nm to 47 Nm (35 ft-lb). For the post-catalyst oxygen sensors, remove the exhaust system, then loosen the sensor with the same special tools and a suitable socket wrench. If needed, loosen the catalytic converter for additional clearance. Installation is the reverse of removal, with the same precautions regarding anti-seize compound and torque specifications.