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I used a universal Bosch 15733 sensor and used the cool splice tool to connect to the Rav4 connector.

I also removed the gland/plug and heat shrink from the original and installed on the universal... just loosen the steel crimp by squeezing in pliers and the 4 wires can be unthreaded/threaded through the holes.

The hardest part was to find how to access the connector inside the console.

THE TRICK is to pull the access kick panel in teh drive foot well,. There is a plastic fastener at the front that is released by pushing in the center pin (like those on the cowl).

follow the cable that goes under the floor and disconnect the end.

Pull the carpet back aggressively to get access.

Push the gland/ cable and connector through the hole.


Good luck!
 

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I know this is an old post but I’m currently trying to replace my downstream O2 sensor on my same year RAV4. I simply cannot find the cable nor where it comes underneath the carpet do I have to remove the driver seat? When you say front kick panel are you talking about pulling back the carpet near where the gas and brake pedal’s are? I just can’t figure out where that cable comes out
 
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