Help!!-need help/advice changing Upstream passenger side o2 sensor 2005 f150fx4

I have already replaced the upstream drivers side sensor, which was relatively easy, but because of the awkward positioning of the o2 sensor plug, I'm having a lot of trouble getting to the plug to change this sensor out. Any ideas on how I could get to it? Is there a part I can remove to get more space to stick my hand in there? How would a mechanic do this?! I'm cursing Ford engineers at the moment haha.