When I did mine 1 1/2 months ago, I was able to do three out of four myself with a special sensor socket; both post cats where pretty easy without having to remove a lot besides the plate underneath the car, and the easy to reach pre cat. The lower, harder to reach one (bank 4-6 I think) I had done. Couldn't figure it out with the tools and space I had.
Summary: post cat lambda sensor replacement easy.