How to identify and fix a faulty oxygen sensor in an Audi 80?

I've noticed my Audi 80 is running rough and the check engine light is on. After doing some research, I suspect it could be a faulty oxygen sensor. How can I determine which sensor it is and how can I replace it?

The first step is to use an OBD-II scanner to retrieve the trouble codes related to the oxygen sensor. These codes will tell you which sensor is causing the issue. If you are unsure, consult the vehicle's manual or a mechanic for assistance.

Once you know which sensor is faulty, you'll need to locate it in the vehicle. In most Audi 80 models, the oxygen sensor is located on the exhaust pipe near the catalytic converter. It is important to have the vehicle cool down before attempting to replace the sensor.