This worked great for me. I have a 2001 Jetta with a VR6. I was getting codes 17584, 16524, 16525 which all seem to point to issues with post-cat O2 sensor.
I purchased the Bosch replacement at Advance Auto for $85.
They also had a loaner set of the O2 sensor sockets (for free), which I think I makes this job real easy.
In case it helps any, here is a pic of how I finally got the socket wrench positioned in place. I used a 1/2" breaker bar with a 3/8" adapter to fit in the O2 socket. Once I got this in place, it only took one firm push with my foot to bust it loose. And it worked out the rest of the way easily by hand.
If you can change your oil, then you can do this. Just make sure you jack up the car nice and high as explained, you will need the space to get both your hands in there for all the clips and snaps and such.