I have owned 86,87, and 88 Suzuki Samurai's, and in each case the fuel filter was bolted to the inside frame rail, on the right side of the vehicle, near the rear axle. HOWEVER all my Samurai's used carbs...and I assume your 96 is probably fuel injected. Fuel lines are quite different between cars that use carbs and those that are fuel injected. One big difference is the carb may have a fuel pump that puts out 5 - 8 PSI (pounds per square inch) of pressure to work, while a fuel injected vehicle runs much higher pressures.
So, you may want to look to see if there is a soda can sized can with fuel lines run to it inside your right rear frame rail...but be aware that fuel injected cars run high pressure, and you need to reduce the pressure before opening the lines or you will get a huge splash of gasoline. One generic way to reduce the fuel pressure would be to find out what fuse powers your fuel pump (your owners manual should tell you this), and pull the fuse while the car is running. The engine will then use up fuel, the pump won't be putting more pressure into the line, and when the car dies from lack of fuel your pressure will be released.
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