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Bank2 Sensor2 is located on the driver side between the catalytic converter and the muffler. I have replaced this sensor on my 01 Rodeo, it was not difficult, took about 30 minutes. I used a 22mm O2 sensor socket but you can cut the wires off the old one and use a regular socket to remove it and an open/box end wrench to install the new one. A Trooper should require about the same level of effort. Just make sure you get a replacement sensor that has the correct connector so that you don't have to cut the connector off the old sensor and solder it to the replacement. I used a Bosch sensor from RockAuto.

It is possible your sensor is OK and is telling you the catalyst is not working.
 
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