simpson3

2007 ES350 p0051 code. What sensor?? Help

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I have a check engine line and traction control light that says check vsc 

 

which sensor is it of these 2?

sensor, oxygen 

part # 89465-33360

                           Or

sensor, air fuel ratio

part # 89467-33090

Parts website asks if its driver or passenger side... thought it was b2s1?

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