Hyundai Repair: on a 2002 hyundai santa fe v6 where is the oxygen sensor?, hyundai santa fa, hyundai santa fe

Question
On a 2002 hyundai Santa Fa AWD V6 where is the oxygen sensor located and what is required to change it out?  Part 2 is there 2 sensors in this model up stream and down stream and how do you know what one is faulty?  I had the code read and was told replacement oxygen sensor required.  

Answer
You have four oxygen sensors, an upstream and a downstream in each bank.  The upstream sensors screw into the side of each exhaust manifold, and the downstream sensors screw into the bottom of each manifold converter.

If you let me know what the code is, I should be able to tell you which oxygen sensor is having a problem.  Otherwise, there's little way to tell.