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The Camshaft Position Sensor (CMP) on the 4.7L V - 8 engine is bolted to the front/top of the right cylinder head CMP Location - 4.7L Engine
It is easier to remove/install sensor from under vehicle.
CAUTION: Before tightening sensor mounting bolt, be sure sensor is completely flush to cylinder head. If sensor is not flush, damage to sensor mounting tang may result.