I havent had the joy of replacing one yet, but the warranty flat rate labor time for it is about 3.5 hours... Figure an aftermarket shop or non-warranty dealer repair will cost 5+ hours of labor. Doesnt sound fun... looks like it requires removal of A LOT of components, as well as the exhaust manifold itself.
2014 Lexus GS350 FSport
2007 Toyota Tundra SR5 5.7 TRD 4x4
2010 Toyota Sienna Limited
2005 Subaru WRX STi