2002 Ford Taurus oxygen & map sensor locations

You have 4 oxygen sensors.

Bank 1 Sensor 1: Rear of engine compartment, on exhaust manifold
Bank 2 Sensor 1: Front of engine compartment, on exhaust manifold
Bank 1 Sensor 2: Under the vehicle, after the catalytic converter of Bank 1
Bank 2 Sensor 2: Under the vehicle, after the catalytic converter of Bank 2

You don't have a MAP sensor, you have a Mass Air Flow Sensor in the air intake assembly.