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2003 Toyota Highlander V6 4WD with error code P0155, where is the sensor located?

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2003 Toyota Highlander V6 4WD with error code P0155, where is the sensor located?

Vehicle: 2003 Toyota Highlander V6 4WD

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Toyota Highlander P0155 is Bank 2 Sensor 1 see picture below 

Toyota Highlander Oxygen Sensor Location

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