I did this last week finally. I jacked up the driver's side and put a bag under the sensor. I missed most of what drained out, but it seemed pretty minimal. I was able to yank the sensor with my left hand reaching around behind, and put in the new one with my right hand. I think I had it sealed back up in less than 10 seconds. Barely lost anything! I had one CEL as soon as I started it up, but I attributed that to having unplugged the sensor, cleared it and haven't had a problem since. (including the glow plug light staying on too long occasionally).
Thanks for the help guys!