Where are the oxygen sensors located on a 2002 Toyota RAV4?

On a 2002 Toyota RAV4, the oxygen sensors are located in two main places: one upstream (pre-catalytic converter) and one downstream (post-catalytic converter). The upstream sensor is typically found on the exhaust manifold or just before the catalytic converter, while the downstream sensor is located after the catalytic converter in the exhaust system. Both sensors are essential for monitoring exhaust gases and ensuring optimal engine performance.