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At least for a California 96 Camry, the O2 sensors are right up front as you open the hood. There is one just before the catalytic converter and one one the end of the catalytic converter. You can identify them as the only "plugs" that have wires running from them which are connected to the exhaust system.

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Q: Where are the O2 sensors located in a 1996 Camry 4-cylinder?
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