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The O2 sensors are not difficult to remove, utilising a 20mm open ended spanner from beneath the vehicle. The difficult part is freeing the connector from the locating clip & disconnecting the plug. If you can obtain the assistance of a tall person 190+ cm it helps. I have employed my sons in doing this, their reach makes it much easier to manipulate the clip & plug.
Well that was easy. The whole thing was done in 30 min. I used two screwdrivers to hold open the lock on the clip and push it off the holder. I couldn't fit the torque wrench in there so I just tightened the sensors fairly tight. I assume it won't be a problem unless they come undone. My ELM327 (OBDII Bluetooth) must be buggered because it won't connect to my phone anymore, so I cannot check if the faults are still there or not.
There is no performance change that I can see, but hopefully the fuel economy will improve. At the moment it is 18L/100km mixed and 13L/100km freeway.
Your fuel usage figures are quite good from my experience