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Since you didn't mention the make or model of the vehicle, you will have to look at the following... A lean O2 sensor does not usually mean that the O2 sensor is bad. Since your idle is bad, you need to look at other air/fuel controls such as EGR, MAF, MAP, IA, injector nozzle and anything else that would either restrict air or fuel at idle

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Q: My 2000 ls has the check engine light on. It reads lean and i replaced both front 02 sensors but light still comes on. The car runs fine but turns off at idle regardless if in drive or park. HELP?
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