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If you search the 4th gen subforum for the exact OBD II code (Instead of a description of the code), you probably will run into a thread where other people had the same code and somewhere in that post should be the right Denso or Toyota PN for the sensor.
 
I have found conflicting info on different threads and from the guy at O'reilly. Is Bank 2 on the V8 on the driver or passenger side? Just want to be sure before i order parts.

Also, with 140K miles would you replace both the downstream sensors (they are both original) or just the faulty sensor? I assume the other side will go at some point so I am thinking about just replacing it now. Thanks.
 
I have found conflicting info on different threads and from the guy at O'reilly. Is Bank 2 on the V8 on the driver or passenger side? Just want to be sure before i order parts.

Also, with 140K miles would you replace both the downstream sensors (they are both original) or just the faulty sensor? I assume the other side will go at some point so I am thinking about just replacing it now. Thanks.

bank 2 is the side that has cylinder #2. Pretty sure it's the passenger side though with the V8 and opposite with the V6

EDIT - confirmed, bank 2 is on the passenger side, link with pics showing cylinder layout - https://images.search.yahoo.com/sea...ta+4.7l+firing+order&fr=yfp-t-764&fr2=piv-web
 
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