Yeah, it's kinda on the other "side" of the pipe, and it's behind it a few inches, but it's not hard to do at all.
If you're looking at the exhaust from the back of the car looking forward and you think of the exhaust pipe as a clock, I would say the stock sensor points to the passenger side at about 1 o'clock. The one I welded in would be at 11 o'clock pointing to the driver's side. Lots of room though, and not even as close to the driveshaft as the stock sensor. Easy peasy.