Can you tell me where I can find the oxygen sensor on a 2004 Ford Taurus?

In the 2004 Ford Taurus, the O2 sensors can be found situated near the firewall before the catalytic converter and near the radiator after the converter. To locate them, go underneath the vehicle and find the exhaust down pipes that later merge into a single assembly. These downpipes each contain a catalytic converter, along with the O2 sensors mounted on them. These sensors play a crucial role in monitoring the amount of unburnt oxygen leaving the exhaust pipes, forming a critical connection in the car's emission and ignition systems. Proper functioning of these sensors is essential for maintaining optimum fuel efficiency and engine performance. If a sensor begins to malfunction or deteriorate, the readings it provides may be inaccurate, leading to the car running either too rich or too lean. This can cause issues such as rough idling, decreased fuel efficiency, and potential misfires.