On 1995 through 1997 2.3L engines, the camshaft position sensor is located on the Synchronizer Assembly which is mounted on the oil pump assembly behind the inner timing belt cover. A high point on the oil pump sprocket triggers the sensor. - Haynes Repair Manual #36071, 1994-2005 Mazda Pickups, B2300, B2500, B3000, B4000.
If you look into the engine bay from the driver side wheel well you should see it with wires connected to it. Google an image of the sensor beforehand so you know what it looks like. My sensor had 2 small bolts holding it in and I was able to get one out from the wheel well but I had to move the compressor and steering pump mounting bracket off to the side get to the other one. The replacement I installed only had one bolt which I will be able to get to from the wheel well in the future.