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There are two sensors in the exhaust system and both are located underneath the car. One upstream sensor that is before the catalytic converter (sensor 1, closest to the manifold) and one downstream of the converter (sensor 2). On a diagnostic tester, the code will come up Bank1 Sensor One or Bank1 Sensor Two. There is only one bank and two sensors. Once the sensor has been replaced, disconnect the negative battery terminal for about one minute and reconnect it. If the sensor replaced is installed correctly, the check engine light should go out and remain off.
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