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When changing oxygen sensor bank 2 sensor 2 do I have to reset the computer?

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2006 Toyota Sienna 3.3L, when changing oxygen sensor bank 2 sensor 2 do I have to reset the computer?

Vehicle: 2006 Toyota Sienna 3.3L

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Yes, you have to erase the codes. You can erase the code by disconnecting the car battery for about 30 min.

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