Q: do i have 2 o2 sensors on my 2002 impala on 2002 Chevrolet Impala

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is there a front and a rear oxygen sensor on a 2002 impala
(1) Answer
You have 3 O2 sensors on your V6 Impala. One front O2 sensor (sensor 1) for each bank of the V. Bank one is where cylinder #1 is. And one rear O2 behind the catalytic convertor - Bank 1 Sensor 2.