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P2195 – Heated Oxygen Sensor (H02S) Bank 1 Sensor 1 – Signal Stuck Lean

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Hello! I have a 2010 Lexus IS250 and the P2195 – Heated Oxygen Sensor (H02S) Bank 1 Sensor 1 – Signal Stuck Lean Issue was detected with a diagnostic device from Auto Zone so I'm not sure how accurate it is. Does anybody know where this sensor is located? My last Lexus had one located at the top, easy access. Goodyear quoted $400.00. My neighbor changed the $40. part for me for nothing. How much is standard pricing to replace P2195? My battery was dead for 3 days and I replaced it with a new one and after that is when the maintenance light came on. Could that have something to do with it?  or I do need to get the oil changed; I haven'y driven much for the last 6 month and it was sitting a lot.

Any advise is appreciated. Thank you!

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