4 total. 2 for the engine, 2 to check catalytic converter efficiency.
no check engine light DOES NOT mean good o2s. they are recommended to be replaced every 60,000 miles.
i replaced my o2s and did notice a change in fuel economy, better idle, and no smell from the cats at full throttle.
drop the exhaust. the 2 rears will then be easy. 1 front will be easy, and 1 front will be stupid.