Could someone please respond if it is reasonable to replace the rear O2 sensor for someone with limited tools and access under the vehicle? It looks like a pretty complicated job when compared to the O2 sensor in the engine compartment.

 

Should not be all that difficult, other than getting to it while lying on your back versus bending over uder the hood.

This is an article that shows how to replace the three wire model with a four wire model, but it should help you.

http://mymiata.paladinmicro.com/Miata4-WireO2.htm


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