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There are actually three O2 sensors on Avalons:
bank 1 sensor 1 - Firewall side of the engine, harder to get to but you can see it from the driver's side.
bank 2 sensor 1 - Located between the engine and the fan/rad (very easy to see when you pop the hood). The cable is connected to a fluid check stick (originally).
bank 1 sensor 2 - Located immediately after the catalytic converter.
The two sensors under hood are quite possible the same (same on 1999 Avalon). You can easily interchange them to see make sure the placement of the failed sensor. Sensor near Cat is different, & won't fit in other places.
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