Update: With a little more research, I found a Lexus GS350 (Toyota) specific O2 sensor tool that I've ordered. To save others time in the future, it's Schley Products SL66750B. It clearly fits over the heat shield and is an offset socket.

Schley Products SL66750B TOYOTA OXYGEN SENSOR SOCKET | Tool Discounter

Does anyone have a pic and name (manufacturer and PN) of an Oxygen Sensor removal tool (for Bank 1, Sensor 2) that actually works? It appears you need an offset O2 sensor removal tool, but it has to be deep enough to clear the heat shield, yet short enough to not hit the frame rail. Straight shaft tools are too long, and the offset I bought (that said it clears the heat shield) did not clear the heat shield. I could not get it on the flats of the nut. Most of my local auto parts stores don't have anything that works/fits.

Any help/advice would be greatly appreciated, especially if you've used the tool to change out the rear O2 sensors (post cat).

Thank you.