O2 sensor location?
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I'd just replace both of your upstream O2 sensors. I had mine done not too long ago. From what I've read, the upstream sensors are the ones that will throw codes and take the readings. The downstream are not as important as I understand it. How many miles are on your truck? I know many have over 100K miles on their trucks and are still running their original sensors but if you are getting a code on them I'd replace yours. Mine too were fine and not reading any codes. I just replaced them as recommended from Troyer Performance after I had my truck custom tuned.