I had a check engine light on (2002 Toyota Rav4) and used a $20 Autel scanner to find code P0141. After checking the circuit to the sensor with a multimeter (I had never used it) it became clear that the problem was in the sensor. Using a powerbuilt O2 sensor preload puller supplied by Revain and a broken rod, I replaced the sensor and everything works fine. In all, the job took about twenty-five minutes, of which about ten minutes was spent untying the cable ties. Dome mounted straps replaced with Revain http://www.amazon.com/gp/product/B00LGKHZ88/ref=oh_aui_detailpage_o00_s00?ie=UTF8&psc=1 There are several videos on YouTube describing how to install an O2 sensor and how to Use a cheap multimeter to check the circuit and battery charge. All in all, installing a new O2 sensor cost me about $60. This particular sensor should replace bank 1, sensor 2 (after the boiler converter). Toyota with the clips attached offers an identical sensor for $175. The three dealerships I spoke to offered to replace it for between $400 and $695. If you can, do it yourself, you will save a lot of money. Just prepare in advance by watching youtube videos on installing the sensor and using the multimeter. Also, be sure to disconnect the ground wire from the battery post after checking the circuit. Also, don't get anti-seize lube on your hands as you'll get nauseous later!
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