Where is bank 2 sensor 1 on a Toyota Hylander 2003 v6 3.0?

On a 2003 Toyota Highlander with a V6 3.0 engine, Bank 2 Sensor 1 refers to the upstream oxygen sensor located on the exhaust manifold on the driver's side. Bank 2 corresponds to the side of the engine that does not contain cylinder 1, which is the passenger side in this configuration. To access it, you may need to remove certain components for better visibility and reach.