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The most common fault causing P2096 are small exhaust system leaks. If the car were in my shop, I would smoke test that bank's exhaust system for very small leaks.
I know you commented that you had the system tested, I would test it again, very carefully and with the system disconnected and plugged as the leaks can be incredibly small.
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“Anything really new is invented only in one’s youth. Later, one becomes more experienced, more famous – and more stupid.” - Albert Einstein
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