Not the sensors themselves. The wiring. The sensors are on the midpipes, but the wiring goes up through the floorpan of the car.
On some cars, this can be a nightmare, as seats and carpets have to come out.
On the IS250, the connectors and wiring are in the centre console in the footwells behind the carpet. The wire then heads straight down to a hole in the floorpan. The O2 sensors come with a rubber grommet that fits into the hole.