So, I managed to replace the pan today.
I placed the R on ramps, and got enough clearance to crawl under. Not much space, not much fun... but no other options were available.
I could have jacked it up, but clearance would not have been much better and, for some reason, the ramps feel safer to me.
Anyways, after removing the old pan (which seemed to be perfectly fine - probably only the gasket was bad), I transferred the sensor into the new pan, with a new 0-ring and bolted it down (10mm socket) to 9 Nm.
Before installing the new pan, which came with a new gasket, I cleaned the area where the lower pan meets the upper pan, since it showed some rubber residues.
I used a wet 1000 grit piece of sandpaper to get it smooth.
I then mounted the new pan and slowly bolted everything down with a regular screwdriver (to be on the safe side) and tightened all 20 bolts to 8 Nm + 90-degree turn.
Filled everything up with oil (almost 6 qts), took it for a ride, and after 6 hours no leaks have been noticed.
Perhaps it's still early to declare victory... I'll have to keep an eye on it.
Since, I'm (obviously) not an expert, I don't have any particular recommendations to express here, but one thing I'd do differently is changing the bolts.
I don't think the bolts should be replaced because they stretch or deform, but even being very careful I managed to almost strip a couple of hex heads.
A full set (20 of them) can be punched online for $25 (or less perhaps).
I think they are M6 x 25 and the part # should be N-910-717-01.
I will keep my finger crossed and keep you informed on the actual outcome over time.