998cc Oxygen sensor location

[Twyla4]

I need to replace my oxygen sensors (2011 RTL) but can find no information on where they are located and how to get to them. Getting code P0174. Have had it serviced, fuel filter changed, vacuum hoses checked but check engine and P0174 keep coming back on. Was told O2 sensors would be the next thing they checked. Service is about 3 hours from me so trying to save a trip and do it myself.
Can anyone help please?

 

[Bfromla]

Unfortunately usually more than one involved, sorry don’t know locations just should be on either side of catalytic converter, one possibly closer to manifold