You didn't say if it was a 6 cylinder or an 8 cylinder but it doesn't really matter because all the O2 sensors are located in the exhaust sytem and can be seen and replaced from under the vehicle.
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where is the O2 sensor on a 2002 chevy trailblazer
Inside the fuel tank.
Under ignition coils
The location of the number two cylinder on a 2002 Cadillac Escalade with a 6.0 is the front cylinder on the passenger side. It would be on the left when you are looking toward the windshield.