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Nissan Altima 2002 code poo51

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I have code poo51 for a Nissan Altima 2002, where can I find the sensor to replace it

Vehicle: 2002 Nissan Altima

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The P0051 code is for the front O2 sensor (Sensor 1) bank 2.

Location here: http://nissanhelp.com/diy/altima/projects/2002_2004_nissan_altima_o2_sensor_location_35_engine.php

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