Can the knock sensor be replaced without removing the intake manifold?

[Nizzehult]

We have a 2016 Jazz 1.3L that has started showing error code P0328 ("Knock sensor 1 Circuit High Bank 1 or single sensor"). I’ve ordered a new sensor, the ESS-HD-003, which is supposed to be compatible with the original part number 30530-R1A-A01.
I understand it’s located in the middle of the engine block at the front, beneath the intake manifold, and is quite difficult to both see and reach. Normally, you would remove the intake manifold to replace it, but I’ve read somewhere that it can be done anyway—likely from underneath using mirrors and a socket with an extension.
Has anyone done this and can confirm it’s possible? I don’t have a lift, so I’d have to do the job on the garage floor.

[Nizzehult]

I can answer the question myself: yes, it’s possible, but it requires quite a bit of patience! The hard part isn’t removing it, but rather installing the new one—and gravity makes it even more difficult. You have to rig it up from above to get it roughly into position, then nudge it into place from underneath, and finally try to align the screw with both the sensor and the threaded hole.
I ordered a compatible sensor called ESS-HD-003, but it doesn’t work at all; the MIL (Malfunction Indicator Lamp) now comes on even before the engine is started...

[Nizzehult]

Since I needed to reinstall the old sensor, I found a faster method, and I can now complete the process in under an hour. These are the tools I had to use, after first removing the large protective panel underneath the car.

You insert the bolt into the sensor, but without connecting the cable. You need to place a spacer of some kind inside the 12mm socket so that the bolt stays firmly in place while you’re positioning it. Then, you take the flexible claw-type pickup tool and position it in front of the hole. After that, you simply fit the assembly into place and connect the cable from underneath. That particular step is the difficult part.