To find it definitively:
1. Consult your repair manual: A factory service manual for your specific year, engine, and model will show the exact location with a diagram. This is the best and most reliable method.
2. Visual inspection: Carefully look around the thermostat housing. The sensor is usually a relatively small, cylindrical part with one or more wires attached. It might be screwed directly into the cylinder head or into a fitting in the thermostat housing itself. It will likely be close to the thermostat.
3. Online resources: Search for diagrams or photos of a 1996 S-10 4-cylinder engine bay online. However, be aware that these aren't always perfectly accurate, so use them in conjunction with the other methods.
Caution: The engine will be hot after running, so allow it to cool completely before attempting any inspection or repair.