Attempting to replace it without removing the intake increases the risk of:
* Stripping the sensor's threads: Limited access makes it much harder to properly position and tighten the new sensor.
* Damaging the sensor itself: Forcing the sensor in or out can break it.
* Damaging the engine block threads: This is a critical area; damaged threads could require significant repair.
* Dropping the sensor into the engine: This is a major problem requiring engine disassembly.
* Damaging nearby components: The intake manifold is close, and other components are likely in the way.
While some mechanics *might* attempt it as a time-saving measure (if they have very specific tools and experience), it's generally considered the less safe and less reliable approach. The extra time spent removing the intake manifold is far outweighed by the potential for costly repairs if something goes wrong during a shortcut. The procedure is significantly easier and safer with the intake removed.