I could not find anything specifically on the internet about an O2 sensor (1) change for a 2010 Ford escape 3 little sensor change, so I decided to help out. You’ll need to take out the battery first.. then the bank 2 sensor 1 position is right at the front right by the radiator. You’ll definitely need an extension, it’s a weird position. The bank 1 sensor 1 position is on the left side of the rear of the engine if you are facing it. Definitely make sure you get solid pressure on the o2 sensor attachment because it will slip off because of the angle.

 

There is a special slotted deep socket made specially to remove Oxygen sensors.

Check with a few auto supply stores that sell tools and they should be able to come up with that tool.