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Don't know about the 4-cyl for certain, but the diagram of the 4-Cyl in my Haynes repair manual shows one exhaust manifold, so I'm guessing there would be one. The best way to determine this would be to examine the exhaust manifold. On my truck, this is easiest from below the car On my '94 6-Cyl there are two. They are located on the small end of the exhaust manifold. They can be most easily seen from underneath the truck near the transmission where the manifold connects to the exhaust. They look like a silver tube about 3" long sticking out of the manifold and have a 4 connector cable coming from the end.

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19y ago
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Q: How many oxygen sensors on a 1996 Ford Ranger 4 Cylinder?
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