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All About Oxygen Sensors?

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My car is a 2005 LGT Wagon with 82,000 miles. Runs great and no problems.I was browsing the Haynes manual yesterday and looked at the section dealing with oxygen sensors. From what I can see, there are two. One is in the right exhaust manifold and is accessed thru a panel in the RF wheelwell. The other is in the catalyst. So here we go:

What is the recommended or experienced mileage for replacement?

Should I wait for a code or rough running or replace them now?

Are they a pita to remove? I expect to hit them with liquid wrench first. Hot or cold?

OEM or aftermarket? I shy away from one size fits all. Who is the best vendor to use?

Thanks for the advice. I do not have a lift so I will be doing the work on jackstands.

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