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Q: Rear Oxygen Sensor on 1998 Toyota Camry

My Camry failed the State emmisions test and I need to replace the rear Oxygen sensor. I've already replaced the front sensor but I'm not sure where the rear sensor is located/how to best access it. If anyone has any tips or experience and could type me through it, it would be greatly appreciated! Thanks.
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The rear O2 sensor is under the car around the driver passenger front seat area. It is not that difficult to replace but the car will have to be safely jacked up and supported. KD , Lisle or several other tool companies make an inexpensive 02 sensor removal socket for about $18.
The electrical connection for the sensor is under the drivers seat. The manual says take out the seat but I get the connector without taking out the seat. Its usually the heater circuit that fails in the sensor.
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