How to remove stuck front O2 sensor of 2009 Volvo S80 T6 AWD

I have spent about 10 weekends to replace the O2 sensor since last year. I watched videos with tricks of removing stuck O2 sensors or bolts. I gave a try whenever I have some ideas. the most difficult part of this job is NOT much room to work around. I learned and tried many tricks and tips till I found this life-saving tools. My car has more than 210k miles, still running strong with 24 mpg during summer and 20 mpg during winter. no burning oil. BTW, the socket of O2 sensor is 22mm instead of 12 mm (misspoken in the video). Please feel free to ask you have any questions. Thank you.
The initial DTC code were P0128 and P0420, which are faulty coolant thermostat and catalytic converter. Replaced the thermostat housing in August 2021. Both codes were gone but new code became P0031, which is front HO2S faulty heater control circuit.
The car still runs great, but we have to fix it in order to pass State inspection. I tried many weekends, with no luck. And asked couple repair shops, I was told there was no access to the O2 sensor. Dealer wants $1000+ for the replacement.

broke one 3/8 extension adapter, one 3/8 flexible adapter, one 1/2 flexible adapter, one 3/8 ratchet and 1/4 ratchet. Neighbor was cutting grass when i was recording during work, so i record it again after finishing the job. kind of recording twice.

The next challenge will be "parking brake service required". the parking brake works fine, but error message stays on the dash board.