To get most oxygen sensors out you will need a 7/8" wrench or oxygen sensor socket with extension and ratchet depending on how hard it is to access.
Two things i can think of off the top of my head as your problem would be vacuum leak - if the problem goes away off idle and at higher rpm then it's probably a vacuum leak
Or it might be a misfire caused by bad plugs/wires or the waste spark 2.3's ('91+) have a notorius problem of the coil packs failing and causing the car to run on two cylinders temporarily or constantly depending on the conditions causing the failure.
Give us more information about your vehicle.
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2005 Suzuki Hayabusa GSX1300-R
1980 Ford Thunderbird - 255 V8
ported heads, 5.0L ported stock headers, O.R. H-pipe and Flowmaster 2-chambers, dual roller timing chain
hi-po Mack Truck hood emblem
1985 Mustang GT 5.0L T5, F-303, GT40p, headers, off-road h, flowmasters, MSD stuff, etc.
Sold 02/06/04 
1989 Mustang GT ET: 13.304@102.29 mph (5-24-03)
Sold - 1998 Mustang Cobra coupe, 1/4 mile - street tires: 13.843@103.41 (bone stock)
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