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2000 and 2001, yes. 2002 is a little different.
There was a thread about the coolant temp sensor that came up recently that discusses the 2 pin connector vs the 4 pin connector and how to re-wire it. The 2002 model has a non-return fuel system vs a return system in the 2000 and 2001 - 2002 has the fuel pressure regulator inside the sending unit in the tank.
For the 2002 3.2L into a 2000 S replacement that I'm hoping to wrap up soon, I just swapped the whole wire harness (sensor), intake, and fuel rail/ injectors from the engine that was being replaced.
There will be a few other things to swap over if the engine you install is from a Tiptronic, but no compatibility issues other than parts from the old engine.
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I am not an attorney, mechanic, or member of the clergy. Following any advice given in my posts is done at your own peril.
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