Guys, below is a link to a picture of an V6 engine in a RAV4. Take your time, and follow what TedL is saying. The engine picture on the left is showing among other things, the air/fuel and the Heated Oxygen, sensors for Bank 2 (the radiator side). The engine picture on the right is showing these two sensors for Bank 1 (the firewall side). Keep in mind, that the sensor NO 1 on either side is called an Air/Fuel Ratio Sensor, and the No 2 sensor on either side is called the Heated Oxygen Sensor. There is a difference to these sensors although they look very much alike. Once you understand what and where these 4 sensors are, you can begin to understand the trouble codes, and which sensor(s) may need to be replaced. These four sensors, detect tiny variations of the engine's exhaust gases, and then send very tiny electrical impulses to the engine's computer. Sometimes changing one sensor, triggers new and or additional error codes, since the other three sensors are older and may send an out of range signal to the computer relative to the new sensor.
Here is the link,
http://www.justanswer.com/toyota/4z0...de-looked.html. You will need to scroll down to the bottom of the page to see the engine diagrams. The sensor in the Red box
Heated Oxygen Sensor (for Bank 1) although not clearly defined on this diagram is called the Bank 1 Sensor 2 sensor. If the link does not load, try Google searching the key words you need. Hope this helps, if it does, would appreciate hitting the 'Thanks' icon.