Location of both oxygen sensors?

Okay, first off the scan tool may have codes for the O2 sensors but in reality the codes are set because the O2 sensors are working and detect a different problem such as a lean condition or rich condition that makes the sensors seem to be the problem. However to change out the sensors you don't really need the special socket as all it really does is allow you to use a ratchet and the socket will fit around the wires.
There are a total of 4 O2 sensors on that car so without knowing which ones you have or are replacing they are located in two spots. The upstream/front O2 sensors are both located in front of the catalytic converters between the exhaust manifold flange and the converter body on each side of the engine. They could be very hard to remove so leverage can help. Disconnect the wire to them and then remove the sensor, reverse the process to put the new ones in, you will want to apply a light coat of anti-seize compound to the threads to aid in removing them if needed.
If they are the downstream/rear sensors the replacement process is the same except they will be located in the exhaust pipes following the converters on each side.

One very important item for working on this vehicle or any air ride equipped vehicle, is to turn off the air ride suspension before you try to lift it in any way other than a drive on style lift. There is a switch in the trunk area to do this, it is also the switch you would use if you had a flat tire and wanted to jack up one corner of the car. Failing to turn that switch off can cause failures in the air suspension system as it tries to correct for the height differences from lifting the car.