replace oxygen sensor upstream kia soul 2016 2.0

The first thing here is to get the car scanned, and NOT buy parts immediately (see the callout I made on this). Given that you know it's the sensor, I will assume you had this done. It's always a P code for emissions, so any basic scanner will do the job here if you decide to buy your own. Anyway, look for a P code related to the emissions for 02 sensors to confirm directly.

NOW THAT SAID: What I have done before with these kinds of codes is I will clear the DTCs with a scanner, drive the car 20-25 miles both ways (so 40-50 miles) to be sure on emissions codes. I'll clear it at home, drive it 20-25 miles, re-scan it for codes and then if it remains clear then it will be driven back home and given a final verification scan. I generally prefer a place like a strip mall with a Sears, Kmart or Radio Shack as a former anchor store so I know I can park out of the way for the scan.

If the code doesn't show and you drove both ways with similar mileage, monitor it especially if you own your own scan tool. BY NO MEANS IS this a way around state emission checks as the I/M ready will always fail - just a way to see if it's a junk code.

If the code returns, it's generally on the exhaust manifold with Hyundai/Kia engines. I found some photos from a 2016 Forte which should match given the engine is shared between Hyundai/Kia and used in multiple cars:

I wish I could find a better photo, but start there. You should be able to reach it yourself, but you may want to lift the car from the bottom and do it that way - the engine bay access is a big problem in the Soul for these parts. Make sure to use a good set of jack stands and put at a minimum, 4 under the car. If you use something like an air jack put good jack stands in place as a safety net.