I have a 2006 GMC Sierra 5.3 liter and this was feeding my check engine light. Code P0135 and P0053. Bank 1, sensor 1, which lands on the driver's side in front of the catalytic converter. Note that this engine has 4 O2 sensors. Two before the catalyst and two after. Something I didn't understand when I first tried to diagnose my problem, but this sensor works on both sides after the exhaust manifold and before the catalytic converter.
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