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A good shop can replace the Rack & Pinion for $400 to $500 and should include the required front-end alignment. Are you sure it's not one of the hoses.
There are 4 sensors, though not all of them are technically called "oxygen sensors. There are two that are upstream of the catalytic converters, one on each bank. Then, there are two more, one after each catalytic converter, that are oxygen sensors, but officially they are called catalyst monitors, because that is the job they are assigned to do.
Bank One would be the left catalytic - trace to left manifold and bank the other.
Looked up your OBD II code for your Explorer and got the following: Bank 1 Sensor 1
The possible causes are listed below per Chilton: *same result for all engines available on your vehicle
Trouble Code: P0141 (4.0L V6 VIN E Auto) HO2S-11 Heater Circuit (Bank 1, Sensor 1)Print this code data Number of Trips to Set Code: 2 OBD II Monitor Type:CCM Details Indicators:MIL Details Trouble Code Conditions: During testing the heated oxygen sensor (HO2S) heaters are checked for open and short circuits and excessive current draw. The test fails when the current draw exceeds a calibrated limit or an open or short circuit is detected. Possible Causes:
Vacuum hose disconnected on exhaust gas recirculation (EGR) system module (ESM) applications* Short to VPWR in the harness or HO2S
Water in the harness connector
Open VPWR circuit
Open GND circuit
Low battery voltage
Corrosion or incorrec
The sensors themselves appear in the illustration linked to below. The illustration is for the Ford Ranger but indications are that other models have similar locations. Hope this helps with your problem. Best of luck!
Greg
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