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Just went through this with my step son's 2000 ES 300.....Twice in two months....Was 02 sensors on the exhaust manifolds each time.....He only has 66k on it.....
I have the same issue and the code is stating P0420 which is the bank1 02 sensor which is the one under the drivers seat from what I am told. Got the sensor and now need to replace but have heard various about location of it. Told to check out a post in the RX section that talks about taking the drivers seat out to make the change. Is this correct? Thanks.