Exhaust CMP Sensor

WARNING: This page is about a different car, the 2016 Mazda CX-5. However, it is still accessible from the selected car via links, so may be relevant.

Disconnect the negative battery cable. (See NEGATIVE BATTERY CABLE DISCONNECTION/CONNECTION .)
Remove the plug hole plate. (See PLUG HOLE PLATE REMOVAL/INSTALLATION .)
Disconnect the exhaust CMP sensor connector.
Remove the exhaust CMP sensor.

Fig 1: Identifying Exhaust CMP Sensor And Bolt With Torque Specification
Courtesy of MAZDA MOTORS CORP.
Install in the reverse order of removal.