Now, your '96 is OBD II compliant, and there is a data port along the bottom edge of the dash board, generally where your left leg rests while driving, and your local autoparts store (and eBay) offer code readers for a reasonable sum.
The computer will spit out codes that will tell you what sensor is giving readings that are outside of the expected range. If you haven't got a code reader, AutoZone will let you use theirs for free, or (depending on what state you are in) they will use the scan tool for you.
The upstream sensors are refered to as Bank 1 Sensor 1, Bank 2 Sensor 1, Bank 1 Sensor 2, etc. Bank 1 is the bank that contains the #1 Cylinder, and Sensor 1 or Sensor 2 defines the location in the exhaust system, with lower numbers being closer to the front, and higher numbers being towards the rear.
If your computer is not throwing codes, your sensors are okay and do not need attention.