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The oxygen sensor for the 2001 Honda CR-V is usually found on the passenger side of the vehicle, attached to the exhaust pipe near the catalytic converter. It may be a bit challenging to reach through the grommet, so it’s helpful to have someone with smaller hands assist you if needed. You can purchase a new sensor for around $70 from stores like AutoZone, and you don't necessarily need a specific brand. Most aftermarket sensors should last just as long, if not longer, than the original equipment manufacturer (OEM) part.
In a 2001 Honda CRV, the oxygen sensors are positioned both before and after the catalytic converter.