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I believe there are two of them, but the one that went out on mine is right off the exhaust manifold. If you trace the exhuast from the engine, you will see a device that is about the size of a roll of quarters sticking out of the exhuast manifold. It should have some wires going to it and is a simple job. If you have an Autozone nearby, they will borrow you the tool if you leave a deposit to change it out and may even print off directions on the reciept if it is in their database. I had to change them out on my ranger and 96 saturn. It's pretty easy.

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Q: Where is the O2 sensor located on a 2001 Ford Ranger?
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