To pinpoint the exact location, you'll need to consult a repair manual specific to your 2002 Dodge Caravan's engine (3.0L or 3.8L). These manuals will have diagrams showing the sensor locations. You can find these manuals online or at auto parts stores. Looking at diagrams online related to your specific engine type can also help.
Keep in mind that accessing these sensors can be difficult and may require removing heat shields or other components. If you're not comfortable working under the hood, it's best to have a qualified mechanic replace them.