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As a prior owner of a 2000S, don't forget that your car is 19 years old, regardless of mileage. Don't fret this too hard....
First off, my car threw this code off and on, months, sometimes years apart before I finally replaced the sensor. Clear the code, drive the car. If the code keeps reappearing, replace the sensor. You are new to the car, so take some time to get to know it!
One other thing, don't feel like you HAVE to replace more than one at a time. The job is easy and the car will tell you when its time to replace each sensor.
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