To be sure, you should:
1. Consult a repair manual: A Chilton's or Haynes manual specific to your year and model S-10 will have diagrams showing the exact location.
2. Use online resources: Websites like auto parts stores (Advance Auto, AutoZone, etc.) often have diagrams or pictures of engine components. Search for "1994 Chevy S-10 4.3L V6 EGR valve location."
3. Visually inspect: Once you have a general idea of its location, carefully examine the intake manifold area, looking for a small valve with vacuum and electrical connections.
Remember to be cautious when working around hot engine parts. Allow the engine to cool completely before attempting any repairs or inspections.