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Three weeks ago my cel, vsc and traction control lights came on and the mechanic read the codes and said it was the rear bank 2 02 sensor. The next day to my surprise, all the lights turned off and has been almost 3 weeks and lights haven't come back on yet.

Should I go ahead replace the sensor or just wait until it happens again?

BTW, my RAV4 is an '07 V6 Limited with a little over 63k miles on it.

Thanks
 

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Had the same lights come on in my 07 V6 Sport last summer. They would go out but eventually came back on, reset it with both the computer and by disconnecting the battery, go out and then come back on after some time.

Ended up replacing 2 x 02 sensors (After market 02 sensors for less than 1 Toyota sensor) and have not had a hick-up since.
 
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