A miss on one cylinder is caused by defective spark plug, plug wire, burnt valve, or blown head gasket. Replace all plugs and plug wires. If the miss is still there run a compression test.
The pollution sensor is detecting unburned hydrocarbons. That usually means a cylinder is misfiring.
1----2----3 4----5----6 ----front----
The 2002 Ford Taurus has 12 valves.
The 2002 Ford Taurus has a V6 engine.
On a Ford Taurus , V6 engine : firewall 1-----2-----3 4-----5-----6 front of vehicle > driver
start with wires
The 2002 Ford Taurus has overhead valves (OHV).
The 2002 Ford Taurus has a 4-speed automatic.
The 2002 Ford Taurus is a gas-powered vehicle.
On a Ford Taurus , V6 engine : firewall 1-----2-----3 4-----5-----6 front of vehicle > driver
The height of the 2002 Ford Taurus is 4 ft. 8.1 in. (56.1 in.).
The 2002 Ford Taurus's turning circle is 39.7 ft..