How many oxygen sensors does this vehicle have? And should I change all of them

Hello, First, I don't know of any machine that can condemn a sensor. Data from diagnostic tools can be interpreted by technicians to determine if one or more sensor is failing. Beyond that, there are 2 heated oxygen sensors mounted before the catalytic converters, and there are 2 after the converters. A vehicle with rough idle and hesitation leads me to think of more of an issue with engine vacuum or an air intake issue. Ensure you are interpreting the data from your testing in a way that determines that sensor replacement is really necessary.