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this is a common problem that happen to bmws, there sensors go bad, there are two sensors , one for intake,and one for exhaust. the intake is the most difficult, its located at the front of your engine on the left hand side (as you sit in the car looking straight ahead) of the cylinder head. its right to the right of the oil filter housing. this sensor however has a wire with a connector that strings down by the butterfly throttle, intake box and tubing, oil filter, and vvt solenoid will have to be removed in order to remove senosor, exhaust sensor is much more easy, its loacted on the front end of the cylinder head on the right side right behind the radiator, it has a connector right at the sensor, disconnect sensor and remove the one 5mm hex bolt(same on both sensors), be very careful not to strip or snap off the bolt due to aluminum head. good luck.

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