Q: Where are the 02 sensors located on my 2010 Ford F-150 5.4L

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Where are the O2 sensors located on my 2010 Ford F-150 5.4L?
My car has an automatic transmission.

This vehicle engine has 4 O2 sensors. They are all located in the exhaust system. There is one near each exhaust manifold and they are labeled HO2S1-1 and HO2S 2-1. Then there are two after the catalysts down further in exhaust and are labeled HO2S1-2 and HO2S2-2.

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