if your putting in your own full system you may want to block of the AIS - There's a video by "To mod or not to Mod" explaining this.
It will reduce (possibly eliminate - but I doubt it) the pops & farts
I've drilled out the stock Baffle , cut part of the cat out , not all & installed a link pipe - Pops & crackles like a rice crispy factory but only on deceleration , particularly in 3rd gear - i quite like it 😁 - I've just decided to block off the ais via a blanking plug to the hose and Airbox - don't see the need to purchase plates.
as you asked ;
O2 sensor is visible from the left hand side of the bike , looking at the exhaust near the bottom of the suspension / engine