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update, the front o2 sensors on the 2002 x5 3.0 are on the topside by the valve cover (on the left if you are facing the engine - passenger side). the job was very easy though space was tight. i suggest getting the sensor tool to help, also may want to unbolt the washer fluid reservoir to get more room. front done, disconnected battery for now to reset the SES light. The bottom are tough to get at without putting the car on ramps. will leave for another day.
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