Toyota Repair: a/f sensor wont come out 02 toyotasiennav6, tiome, exhaust manifold

Question
Is there a special tool other than a special socket to remove the a/f sensor in the rear of the engine upstream of the catcoverter? The threads appear to be crossed.  used pbblaster and heat but just got tighter

Answer
This happens frequently and there is no easy solution, if the sensor is stuck the exhaust manifold has to be removed, after that it may be possible to force the sensor out but the threads in the manifold may be lost, sometimes it can be rethreaded with a rethreading tool of the correct size but most of the tiome the manifold has to be replaced.