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Is there some way to test O2 Sensors on 2002 Chevy Impala 3.8?

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I have a 2002 Chevy Impala with a 3.8 engine. It is throwing codes po137 and p1133. I was wondering if there is a way of testing these sensors while on the car. Or is there a way to try and clean these sensors. We are wanting to sell this car and don't want to have to put a bunch of money in it. Please help!!!!

Vehicle: 2002 Chevy, Impala, 3800

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