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Changed bank 2 sensor 1 located at top center coming out of exhaust in front of engine. Used bosch 15733 universal sensor, was getting
A diifetent code before replacing now thats gone and i get p0051 on same sensor

Vehicle: Toyota sienna 04

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there is a service bulletin from Toyota for this problem, saying the ECU also needs to be updated you can call the toyota to see if it was updated before.
 
 
 
 
 
I would not recommened a universal oxygen sensor either. Toyota part number is 89467–08010

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