I don't know about your Sport Trac but on my 2000 Sport the pre cat O2 connectors on either side are extremely difficult to access.
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The engine harness connector is supposed to be attached to the back of the heads. I think the O2 sensor and transmission connectors are visible if you remove the passenger side wheel and inner splash shield.
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I cheated and disconnected mine after disconnecting the engine from the transmission to replace valve timing components and connected them prior to bolting the engine up to the transmission because I couldn't get my hand up in there.
As I recall the post cat O2 connector on the passenger side is above the servo heat shield. I doubt it is visible from below but I think I found it with my hand following the wire. Make sure your exhaust is cool or you'll get infrared burns.
On my Sport there is an access panel under the carpet but its a pain to get to. Even with it removed I doubt there is access thru the opening to the connectors between the block and the firewall. Below is a photo posted by Turdle of his 2000 Mountaineer with the access panel removed:
2nd gen console removal
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