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Underneath the car. On top of the exhaust pipe. About 6 or 7 inches down from the exhaust manifold. You have to jack it up and crawl under it. Put penatrating oil on it and use a box wrench. This is before the cataytic convertor.

There is also a 2nd one after the convertor.

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Q: Where is the oxygen sensor on a 1992 Mazda van 6 cylinder?
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