Bad O2 sensor cause misfire?

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When troubleshooting EFI problems you must keep in mind that the error codes are simply pieces of information and not gospel in terms of what the fault is.

Multiple misfires on the same bank as the O2 sensor error tells me that the O2 sensor is probably fine and that code is being caused by the misfires.

If your pre-cat O2 sensor is bad you will get lean/rich error codes not cylinder misfires. Misfires are electrical in nature. Start your search with the things that create the spark fire sequence and spark.