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I was told for my model this was the o2 sensor connected to the exhaust, but am still having problems, I was going to order the other o2 sensor and try replacing that as well any other recommendations, any help would be greatly appreciated.

Vehicle: 06 GMC Canyon 2wd 4L

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It the code came back after you replaced the Front (upstream) Heated Oxygen Sensor Bank 2, then you may have another problems. Check for exhaust leaks. Also it's possible that you got a defective sensor, which is quite common.
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Thank you for your quick response, so the error code I received p0153 bank 2 sensor 1 is that the 02 sensor located at the rear of the truck connected to the exhaust pipe? or did I get them mixed up, I am going to replace the other o2 sensor just want to make sure I am connecting in the proper locations.

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