It is on the left or right side of the truck by the fender well on the engine.
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It is located behind the alternator just above the thermostat. You will need to take the alternator off to be able to reach and change the sensor.
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The jack is under the back seats of the envoy.
apparently you don't have one. gm stopped including them after 2003
How to change brake pads on 2002 GMC Envoy front brakes.