I changed out the lazy O2 sensors on my '94 that was throwing a lean RH side code and I'd do them all day long versus a driver's side upper control arm. I did collect a couple of new tools for it though.
If you're game, you'll need a 22mm (slightly) offset wrench over the driver's side cat (I thought that was the easy side to get to) and the offset O2 sensor socket wrench kit you can "rent" from Advanced Auto on a ball joint type universal for the passenger side. Both broke loose fairly easy but I've read of others having to fight rusted on-sensors. The pain I thought was getting the connectors off and back on, which a 18" long small-tipped standard screwdriver, a really set of long needle nosed pliers and a lot of patience did the trick. I bought Bosch 15716 O2 sensors with pre-assembled harnesses from Advanced Auto for $46/ea.