How can i tell front or back and left or right on a bad O2 sensor

Hello, first, the code does not indicate the sensor has failed. It indicates a problem in the circuit. The sensor could have failed, but multiple wires in the circuit should be checked as per the shop manual procedure. That said, this sensor is bank 1. Bank 1 on a Kia Sorento 3.5L V6 is where cylinders 1, 3 and 5 are. This would be the cylinders closest to the windshield. 2, 4 and 6 are closest to the front of the car. The oxygen sensor in question (and its wiring) would be mounted onto the exhaust manifold.