Yes you need to address. I suspect there can be a variety of issues that generate these.
For me it was a vacuum leak between AOS and Throttle body.
I'm thinking because both generate it is a central issue before a specific Bank but after the MAF
The o2 sensors after the MAF and what the MAF is reading are out of sync (Potentially a vacuum leak introducing intake air after the MAF)
Could be the MAF as well
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2002 S - old school third pedal
Seal Grey
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