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The sensor on the right is covered with a gray silicon tube with the black zip tie (witness that it has been replaced before). The sensor wires go inside of this…

Cut black zip tie. Roll back silicon tube, disconnect wire. Remove old O2 sensor. Ensure sensor safe anti seize lubricant is applied to threads ONLY. Remove any excess from sensor with solvent. Torque to specifications.
 

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That is part of the NEW emissions standards for diesel engine! (The same standard that spawned the VW dieselgate scandal)

NOx (Nitrogen Oxide) sensor.
Nitrogen Oxide
Failure of this sensor would fall under code: p2201- NOx Sensor Circuit Range/ Performance Bank 1
 
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