On a Toyota I had the threads of the o2 sensor become separated and stay in manifold and had to tap=very hard metal lol. Also have in extreme cases sawed off end of sensor and used socket with breaker bar and heat to get out. I have never had to reset other then letting ecu cycle but p-cars may be different.

 

Yeah I'm on my way now too put her up on the rack and see about taking it out. I mite just put a denso 02 in it cause the Porsche n Bosch ones are like $200 I think the denso's only like 40 are 80 bucks

 

ecs shows Bosch for around 133 I'm sure if the Denso is direct fit you should be fine gl.

 

Change it and clear the codes if you are have CEL and drive it. Point to remember that if you change it you should change both sides. Most O2 sensors are good for about 60K so if one is going out, the other one should be replaced.
When I did mine, bought the one by Bosch from Amazon and it was very reasonable.
O2 remove tool from harbor freight tools for 5 buck did a fine job for the once in the blue moon work.