Air/Fuel sensor replacement 2012 Mazda5?

Hi all, Has anyone tried to change the a/f sensor (upstream oxygen sensor) in 2012 mazda 5? I was unable to disconnect the sensor from connectors. Almost impossible to reach that area. Any suggestions?
 
This is a great source of a lot of service and repair info. Instruction just says disconnect the connectors to replace a/f sensor but it doesn't show how to....

The a/f sensor connectors are below the coolant outlet flange on cylinder head. Can't get two hands to disconnect them. I tried with one hand but the connectors are too tight. Is it necessary to remove the solenoid bracket and coolant outlet flange to access the connectors???
 
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