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There are 2 sensors. The main one is located in the exhaust manifold (facing you as you look at the engine from the front of the car). The secondary sensor is located behind the catalytic convertor, which is under the car, approximately beneath the front passenger seat. On some cars, somewhere around 1999, Toyota started using an air/fuel sensor instead of an oxygen sensor in at least one of these locations, so you need to be sure which one you have before replacing. They are not interchangeable.

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Q: Where is the O2 sensor and how many of them are there on a 99 Toyota Camry 4-cylinder. 2.4L engine auto transmission?
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