The bolt your mention is difficult without an impact gun and some swivel impact sockets and extensions. Removing the three bolts, as described above, and taking the front beam down with the front engine mount attached, is a good alternative.
Also this bolt will have you cursing during reinstallation since the headers are very much in the way
. The nut is very difficult to hold in place when you reinsert that bolt. A wide piece of duct tape to hold the nut in place with a tail so you can pull the tape off once it is installed works well. If you go the route of removing the three bolts this can be avoided. Make sure whichever way you go, you install either the three bolts or the single bolt BEFORE you install any other hardware on the front beam. The mount should have all the bolts started first.
www.oxygensensors.com has 02 sensors that are generic for $60 delivered to your door. These come WITHOUT a connector so if you are handy with electrical stuff(butt splicing wires) you can save quite a bit going this route. You need to know if you need the rear one BEFORE or AFTER the cat. Do you have a Check Engine Light on the dash? What is the code?
On the site they refer to the sensors after the cat as right and left, not front and rear. I beleive the rear would be the right, but call them to be sure.
Here is the link for the 1996 NSX:
https://www.automedicsupply.com/catalog4.php?PHPSESSID=a9d6554432936d5f4a7f85d9d36d2489
You can order the "Universal" one, 250-24200 or the OE one 234-4065, $60 or $100 respecitvely if it is a BEFORE the cat sensor.
If it is the AFTER the cat sensor you can order the "Universal" one, 250-24200 or the OE one 250-24121, $60 or $130 respectively. Again, I am thinking the rear=right, please check with them before ordering
. If you decide to go with the universal model it does not matter they are all the same. The only difference with all these sensors is the cable length/connector end.
For removal of the 02 sensors go to Autozone or the like and get the 02 sensor wrench, worth every penny. I think I paid $9
HTH,
LarryB