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Right after the catalytic converter, only about a foot away from the upstream O2 sensor. If you must replace either O2 sensor, I strongly recommend using only genuine Denso sensors, you can get a compatible (solder in) on for as little as $35 (see Amazon for example). Other brands do not meet Toyota's extra sensitive requirements. For the downsteam O2 sensor, you can also install a spark non-fouler ahead of the O2 sensor to avoid "catalytic convert efficiency below threshold" error code that is quite common on this car when it has high miles.

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