The 2002 2.4L has 4. 2 on the exhaust manifolds, one before the catalytic converter and one after.
Plugged converter possibly or other exhaust restriction. exhaust is very very hot, because of this, your exaust manifolds/headers are going to get very very hot, especially if you tend to run high RPMs. if everything else like throttle response is fine, i wouldn't worry
On the exhaust line just behind the area where the 2 manifolds become one but before the catalytic converter. Should have a shroud around it.
In the manifolds - sometimes difficult to get at.
Problem is likely the oxygen sensor (located on each of the exhaust manifolds). These are a common problem and can be replace by the average diy shade tree mechanic. 10 minutes each with a cool engine.
You can find and exhaust system diagram for your 2003 Toyota Camry at most Toyota dealerships. Many local libraries will have Toyota service manuals with the exhaust system diagram.
Stock Toyota exhaust system.
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not interchangeable, and yes, it most likely is the source of the noise (and dewpending on the size of the crack, loss of horsepower
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No, it does not. Toyota started installing cabin air filters in Camry since 1999.
4 exhaust ports