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There are four O2 sensors on your vehicle. Two for each bank of the engine. There will be one between the exhaust manifold and the catalytic converter and one near the end or just after the catalytic converter for each bank. If you are receiving a DTC indicating a sensor is bad, you need to see which sensor the code indicates. It will say something like bank 2 sensor 1.
First let me say the odds of the sensor being bad are 50/50. The trouble code would tell you the sensor is not reading correctly, not necessarily that the sensor has failed. Bank two is on the side with cylinder number 2 and sensor one is in front of the catalytic converter.
if it's a four cylinder motor it only has one bank of cylinders, sensor one is going to be the one before the catalytic converter, should be visible under the hood. if it is a V6 then bank one is going to be the one closest to the very front of the vehicle, again sensor one is going to be the one BEFORE the catalytic converter.