my 2001 S4 only has 2 sensors, standing at the front of the car looking back bank 1 is the left hand side, bank 2 the right. as you're stateside i'd guess that sensor 2 is the one after the cat since we only got the second sensor in the very last S4's. as standard we only got sensor 1 which is in front of the cat in the downpipes.
so to answer your question sensor 1 bank 1 is the passenger side front sensor