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I have the same issue. The sensor to fix is hard to reach and it is on the right side just under the passenger door area. It is really close to the tranny and is hard to get to without loosening other parts.
Just remember this
Bank one is right side engine
bank two is left side engine
then bank one of bank one is sensor one closer to your engine
bank two of bank one is right side closer to the rear of the exhaust
THE SAME IS OPPOSITE FOR BANK TWO (LEFT SIDE ENGINE)
Hope this helps
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