How locate and change O2 sensors

Where are the O2 sensors and how to change them?

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@patrickarm60271 what exact year and model and most importantly, engine size, is your Hyundai? Open the hood and take some good pictures of your engine around the exhaust manifold those we can see what you see. Adding images to an existing question

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It’s a 2002.

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What's the engine size?

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