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When looking at the engine from the front of the car, where is the bank 1, sensor 1 located?

Vehicle: 2004 Toyota Camry 3.0L V6

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Here is the only image I got. I hope it helps.

Bank 1 Sensor 1 is on the back of the engine

Toyota Camry Oxygen Sensor Location

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It looks like the  B1 S1 has to be accessed from beneath the vehicle.  Correct?  Thank you Mr. Orellana, for a quick and helpful image.

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