SOURCE: Can you tell me where the crankshaft position
V6 or 4 cylinder? If you go to www.clubfrontier.org and go to the forums you can find a free manual download in the DIY section. The page is in the EC section and starts at page 970. You will find a picture in the book download but the sensor on the V6 is on the side of the motor on the passenger side (U.S.) to the left of the suspension. You will probably have to remove the plastic inner fender cover to be able to get a clear view of everything.
I spent all day today looking for this because it's not in a normal spot.
SOURCE: location of Crankshaft Position Sensor 2002
in the rear of the engine on the drivers side at the top of the transmission bell housing
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