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SImple answer is yes

The Oxygen sensor measures and tells the computer about how the engine is running.

If the sensor is so bad the computer turns the light on it is very bad, the computer knows it is getting bad information and goes into a program designed to allow you to drive it in for repair.

Over a long period (thousands of miles) the engine will suffer extra wear due to this.

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Q: What does a o2 sensor do and will it damage car if not replaced?
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Related questions

How do you replace o2 sensor bank 2 sensor 2 on 2000 cougar?

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