My check engine light came on in my car it was both of my o2sensors so I replaced the downstream one so just the upstream one is bad and needs to be replaced to pass inspection and turn off my light is there any way I can just take it out and clean it? What is the best way to clean it?

No, you cannot clean an O2 sensor. When they are bad, that's it. There is an element inside the sensor that goes bad from age or contamination.

Impossible.