There are 2 on each Bank or side of the Exhaust system. One in front of the converter and one after the converter. The one in front of the converter does the heavy lifting of providing output to PCM to regulate the air to fuel ratio via trims to the injectors. Since you have a V6 with 2 bank, you have 4 O2 sensors.
SOURCE: 2003 Ford Ranger/2.3 O2 sensor - How many and Where located ???
Engine Heated oxygen and catalyst monitor sensors—2.3L engine
SOURCE: O2 sensor
On the left front part of the engine, near the bottom, you also have a second one underneather the car right past the engine towards the rear of the car
SOURCE: i need to know where my MAF/IAT sensor wires are
it's the sensor on the intake air duct come out of your air filter. the iat sensor is integrated with the maf sensor
SOURCE: What is a t0420 code in a 2000 ford mustang
I'm afraid your right side Bank1 Converter is shot
420 & 430's are failed converters
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