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The trouble code should tell you which 02 sensor? The 02 sensors are in the exhaust, sensor 1/sensor2, whatever, bank 1/bank2, whatever, before the cat, after the cat. You have several 02 sensors in the exhaust, don't know which one?
You should be able to remove/install with proper size wrench or deep socket. They do make an 02 sensor socket that has that slot in it, not sure if you need that, though.
Usually these are located on the exhaust manifold or just below the exhaust manifold and you should be able to see it in the engine bay. On V6 engines there will be one sensor on each of the 2 exhaust banks.
You will probably need to remove the engine cover to see the sensors on your exhaust.
If someone told you to replace these because you got a particular fault code I would be wary. A decent scan tool and basic diagnostics can show if the 02 sensor is working or not. Some faults often blamed on an 02 sensor are not due to faulty sensors.
I have written a couple articles that cover subjects including oxygen sensors, oxygen sensor codes, and oxygen sensor locations. I recommend that you read these articles before pending your money on trying to replace any oxygen sensors. Click the links below to see the articles.
There are a total of 4 02 sensors on your vehicle. Each side of the engine has 2 02 sensors. 1 sensor is located before the catalytic converter, and 1 sensor after the converter for each exhaust. You will have to remove the lower plastic covers under the car to access where the sensors are located. They are located in the exhaust forward of the transmission. You will need either a 22mm or 24mm open end wrench, or preferably an oxygen sensor removal tool which can be purchased from an automotive store or even Sears. In addition you may need a 3/8 ratchet.The sensors can be pricey and I recommend staying with Bosch brand if possible. It is best to remove the sensors when the exhaust is cold.
Heated Oxygen Sensor (HO2S)
SPECIAL SERVICE TOOL(S) REQUIRED
Oxygen Sensor Wrench
T94L-9472-A Removal and Installation NOTE: If excessive force is needed to remove heated oxygen sensor (HO2S) (9F472) , lubricate heated oxygen sensor with penetrating oil prior to removal.
Disconnect battery ground cable (14301) .
Disconnect heated oxygen sensors from engine control sensor wiring (12A581) .
Raise vehicle on hoist. Refer to Section 00-02 .
Remove heated oxygen sensors from dual converter Y pipe (5F250) using Oxygen Sensor Wrench T94L-9472-A.
To install, reverse Removal procedure. Tighten heated oxygen sensors to 36-46 Nm (26-34 lb-ft).