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It is only necessary when the computer recognizes a problem with it. You will have a check engine code. Mine triggered a code " low output " for about 6 months before I changed it, it was still operating ok and not affecting engine performance but the minor fault was picked up by the computer. Even though there isn't a recommended interval, you should probably look at changing them out about 30-50k miles. You risk excessive wear to other vehicle components so waiting on the engine light to come on is not a very good measure, however this has been recommended in the past. Most O2 sensors pay for themselves within the first year of replacing them just in fuel savings, not to mention what you save on engine and drivetrain wear.
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