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I believe the manuals will say 100,000 miles, but I only change them when they generate an error. If your check engine light is on, a DLC reader (Which you can "borrow" from most part stores) will show what errors or registered, and the O2 sensor is a common one on older cars.

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Q: How often do you need to change your oxygen sensor on a ford 3.0l v6?
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