WHERE IS THE OIL PRESSURE SENSOR on a 2002 ford escape

If the oil pressure is good then it could be the oil pressure sensor. If pressure is to low it could be the oil pump. I would also check the connection to sensor to make sure you have good connection and wiring okay.
https://www.youtube.com/watch?v=vMOB0NVdlvI

https://www.youtube.com/watch?v=DpBOxYQtVM8&t=4s

https://www.carsdirect.com/car-repair/common-oil-pump-failure-symptoms

Its usually the high pressure line that goes bad ! Replace it ! Try you tube !

check for correct oil level in the sump first
this indicates insufficient oil level and the surge of the oil when stopping is allowing air into the pump and putting the light on

You're vehicle has two sensors for the oil,an oil pressure sensor switch & oil pressure sensor.If oil pressure gets below 6psi,the oil pressure sensor switch will turn a dash light on to let you know the pressure is at a dangerously low amount.So if you've got a dash light on,the pressure sensor switch needs to be replaced.Its located to the right of the oil filter housing,on a 2.0 liter.Its located to the left of the oil filter housing,on the 3.0 liter.
If your oil pressure gauge is reading inaccurately,you need to replace the oil pressure sensor instead.Its located near the ac compressor.

The sensor should be located near the oil filter. I did not have to drain oil to replace. If car has that many miles on it yes pump could be bad.

Check your Oil Level, The connection to the Oil Pressure Sensor and possibly replace the sensor.

near the oil filter

Code P0430 - For Continuous Memory Only -- Check for missfire detection monitor (dtc) -- Bank 2 catalyst system effciency is below acceptable threshold -- possible causes are
-Faulty HO2S
-Faulty ETC sensor
- High Fuel Pressure
- Damaged exhaust components
- Oil Contamination
- Cylinder Missfire
- Downstream O2 sensor improperly connected
- Retarted Spark Timing
Most times the problem is the Downstream O2 sensor is defective

it will be near the oil filter, on the side of the engine block. A large brass "nut" with a wire attached to it.

some vehicles when a certain sensor goes bad the computer in the car wont let the engine start until it knows that the engine has oil pressure. thats why it cranks for so long. the engine is building oil pressure from starting it. not sure what sensor it could be on your ford though.