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I have a 2007 Lexus IS250 AWD and I am getting a P0031 code as well as a P0051 code (right and left bank O2 heater circuit codes). The car runs fine until you put it under load, during take off it will sputter even miss a little then when you get to driving speed it smooths out. When sitting at a stoplight in gear it idles rough there is a noticeable vibration in the cab, whereas if you put it in park the vibration goes away. I don't have a dealership near me so I have taken it to the Toyota in my town. They told me it was probably bad O2 sensors, so I had a reputable exhaust company custom build headers for my car and dual exhaust out the back, it is now cat less and has O2 conditioners on it (basically tells the computer what it wants to see form the O2's so you don't get codes), codes came back immediately, and yes battery was unplugged for days while work was being done on it and it was a 500+ mile journey home so the computer had plenty of time to think about it. Then toyota told me it could be the M.A.F, so I changed that reset the ecu and the codes came back immediately. I am lost here and won't be able to make the trip to an actual Lexus dealer for another month or so. I would really appreciate any info I can get I am fed up with getting the run around from Toyota. Thanks for your time, Onie
Vehicle: Lexus, IS250 AWD, 2007

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