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The rear oxygen sensor is located in the front section of the rear catalytic converter. On the 2.2L engine the front (A/F) oxygen sensor is located in the front section of the front catalytic converter. The rear oxygen sensor is located in the rear section of the rear catalytic converter.
Above is a diagram showing the location of the Ford Explorer's oxygen sensors. If your engine is showing a code like PO153 Upstream heated O2 sensor circuit slow response Bank 2, you'll need to find your oxygen sensor locations to replace the bad unit.