No ideas on the Motronic unfortunately, but as for the O2 sensor:
Dropping the exhaust is easy, but that thing can weigh 100 lbs or more so be careful. You can drop the whole thing from the headers back as a single big piece, and support it on something like a cinderblock or a tonka truck while in the process of removing it.
You might want to replace the rubber hangars, and will probably want new crush nuts for the header/exhaust connection. Winfred posted a good idea for getting the 6 copper nuts off at the header/exhaust connection: soak in PB Blaster for a while and Tighten them a wee bit first to break the bond, then you can remove them. Follow the directions when putting the new nuts on (don't crank them down too much).
Soak your O2 sensor in PB Blaster for a while, whack it a bit, soak it, etc. I've found PB Blaster really works, after years of using stuff like Liquid Wrench that didn't seem to do much.
HTH
- Robin
Robin
72 Chevy K10
01 E39 M5