2001 S-Type 4.0 Oxygen Sensors
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What fault codes are you getting? It should be a 5 character code, starting with the letter P and followed by four numbers. Please post the actual code, not what the scanner says it means. Some scanners don't know certain Jag-specific codes and you can get misled by the fault description.
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You also need to watch how they are switching, as long as they stay in range they wont set a code but they do get lazy with age. There are 2 at the inlet sides of the cats and 2 in the center of the cats. 7/8 wrench will remove them but if they have been in there a while they may be tough to get out. If so cut the wires off them and use the box end of a wrench so as to not round them off while trying to remove.
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