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pre cats or main cat? most likely the pre cats, which are part of the exhaust manifold. both have to come off from underneath. front is not too bad, remove the "Y" pipe first, then it comes out. the rear one will take much longer. you have to remove the entire exhaust, and a crossmember that the exh pipe goes over. the pre cat oxygen sensor is really hard to get at, you will need a couple of extensions and universals. you can just barely get it out by turning and twisting, if not, try removing the heat shield. if that dont work, you will have to pull the right side axle and jack shaft. i have always been able to get it out without removing the axle or the heat shield.

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Q: How do you replace the catalytic converter on a 2001 Mazda millenia S?
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