One problem related to o2 sensor has been reported for the 1996 Ford Taurus. The most recently reported issues are listed below.
Recently I've noticed numerous electrical problems. First I noticed my check engine light would come on and stay on. I had the car serviced but the light came back on. I had it checked out and it was said to have been a problem with an oxygen sensor (bank 1). It was reset, but the light came back on. I had it checked out again, and this time the codes said there was a problem with two(2) oxygen sensors(bank 1 & bank 2), but the egr check came up incomplete. Then the panel light instructing me that a door was ajar started coming on, but all doors were shut. Then it would go off all of a sudden. Now the light comes on and stays on, and all of the doors are shut.