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Q: 02 sensor location on 2005 Kia Sedona

Rookie cbe0621eac06868b3efe0d8d1d3611e23c60d3114864ea2ec19a68cfbd3eebab
Where is the Bank 1, Sensor 1 o2 Sensor located on this vehicle? Pulled P0031 code. Thanks!
(1) Answer
would a bad o2 sensoer cause the check engine light to stay? how do you know which senser it is?