Foliar spray Triclopyr works well on poison oak when its growing. The advantage is that it won't kill the grass. 2,4d will kill everything.
If your PO is in tall bushes or even short ones you need to rip it out or mow it down first. The best time is in the winter when the leaves are off. The stems still contain Urushiol but there's a lot less surface area to spread it. I'd still stay well away from the mower and take all precautions afterwards such as washing any exposed skin. Whatever you do, don't burn it. The smoke will do to your lungs what the leaves do to your skin.
Once you have the bushes removed you can go over the area in spring and summer with Triclopyr. You'll have to keep at it for a number of years to kill the roots underground and exhaust the seed bank.
For large plants I use 25% Triclopyr in oil. Applied to a short section of stem, it soaks in and kills the plant in a month or so.