Well I just had the dealer replace the O2 sensor - they wanted $95 labor to install and after looking at what was required I figured that my time and knuckles were worth more than that. Of course, I had to buy one of their "genuine Motorcraft sensors" at $115 or they wouldn't do the job ...
But it's in, and after 1 day I still don't have the CEL and the car does seem to run better. So I guess I'm happy.
Thanks to everyone for their help. Now if I develop a problem with the Bank 2 sensor maybe I'll do that one myself, it looks to be a lot easier.
Also, I've seen various posts here regarding the number of O2 sensors of the V6, some people say 2, some say 4. I asked the service rep and she said "2" but she's not a mechanic. My Haynes and Chiltons manuals seem to indicate only 2. Does anybody here definitively know the answer? As in "I've replaced all 4 so I know it's got 4" or something like that. And if you do think there's 4, where are those other 2? The 2 I can see are in the exhaust pipes off the 2 heads.
thanks as always for the good info.