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To access the oxygen sensor (bank 1 sensor 1) on a Toyota RAV4, you will need to look beneath the heat shield for proper access. This sensor is located high on the exhaust manifold or catalytic converter area on the driver's side of the vehicle. You can use an appropriately sized open-ended wrench to reach it. If you need access to sensor 2 instead, you will still need to be under the vehicle, but this time on the passenger's side. Locate this sensor under the black plastic trim piece attached to the bumper, and remove it in the same manner.
On the Toyota RAV4, sensor 1 is located near the top of the manifold and catalytic converter, which can be reached by removing the heat shield.