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I had a similar problem. Mine was all due to voltage. Check your battery voltage. If its less than 12 volts ( mine was 10.5v). Some of the sensors wont read correctly. I had a parts store check my cods and they said VSS was bad. I had them check the ALT and they said it was putting out 9.5 volts I bought an ALT and all my CELs and hesitation went away. Good luck hope this helps. If your voltage is good then the O2 is probably bad but I would not think an O2 would cause the jerking around just bad gas milage.

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Q: Your 2004 Hyundai santa fe 2.4L 5sp is jerking around while driving has no pickup and the check engine light wont turn off it keeps saying O2 sensor bank 1 you have replaced that what could it be?
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