02 sensor location on 3.0

I have a 2002 a4 3.0 w/ dual exhaust and I need to replace oxygen sensor # 2 in bank one what is the location of this sensor , i know its on the passenger side. someone told me i have to take out the air box and the boot to get at it.

Isn't #2 the postcat sensor? That one is accessible from underneath the car. If the 3.0 is anything like the 2.8 its a pita to get to the precat sensors.

Yeah, #2 is post-cat. And yeah, pre-cat sensors on the V6 are a major PITA.

do u know the location of the post cat sensor ? when i get under the car the only one i can see is the sensor before the cat

The 3.0L O2 sensors are almost right next to each other. The post cat O2 sensor is the one you CAN see in the middle of the cat converter. The Pre-cat O2 sensor you can't see which is almost bolted right at the back of the cylinder head, if you reach around behind the head you can feel it.
On the 3.0L engine, none of the O2 sensors are under the car.

when i lay under the car i can see an 02 sensor,it looks like its right in front of the cat, is that the post cat?
 

Goodluck replacing it, everything is hard to do on the b6 3.0, specially oxygen sensors, u cant even fit a tool to get them off.

Similar Qs: for O2 locations on a 3.0
 
I have a code (P0431) for Bank 2 Warm up Catalyist;
1) Which one is the Warm up (heated?) sensor?  Post or Pre Cat? 
2) What about the Bank designations, Bank 1 and 2, Which one is which? Driver or passenger side?