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In the exaust manifold. If you raise the hood and look down on the front of the engine, you will see the exaust manifold, and there will be a sensor screwed into the middle of that manifold. That is the O2 sensor. There is another sensor further down the exaust system that looks just like it that some people mistake for an O2 sensor, but that sensor is called a catalyst moniter. But the one you can see while standing in front of the car with the hood up is the O2 sensor.
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