I'm sorry I'm not very familiar with the 1g engine, but the o2 sensor would be the only sensor on the exhaust piping. It probably is on the exhaust manifold.
Once you find the o2 sensor, see if there is a flange that has two nuts holding it on, or whether you unthread the sensor itself. If the sensor unthreads, then you can go to an autoparts store and get a generic o2 sensor and cut/splice the wire(s) (there will either be 1 or 3 wires). If it is bolted with a flange, then you probably have to go through toyota
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