I haven't done a Murano, but I've done Maximas with the 3.5L. I haven a assortment of O2 sensor sockets for different situations, but for the one way up behind the engine, I believe I used to cut the harness off of the sensor and use the box end of a long combination wrench to break the sensor loose. Then, I would unscrew the sensor by hand and reverse procedure to install (except the part about cutting the harness, obviously). It's best to stick with genuine Nissan, NTK or Denso sensors.
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