You don't need to pull the O2 sensor out. Yes, pulling the dogbones and rocking the engine forward helps.

On the older models, you can remove a bracket that is just used to lift out the motor. Once that's out, it makes it easier to reach the plug wires.

Be sure to put anti-seize on the plug threads, and put lots of dielectric grease inside the plug boots. Will make the job easier next time.