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Oxygen sensor replacement

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2009 MDX Elite.

Check Emission System and Check SHAWD both showed up in my info display. I scanned for codes (0154 & 2254) and found out there is a fault with my oxygen sensor Bank 2 Sensor 1. Reading other threads I am led to believe the SHAWD error is due to the system sensing a misfire and shutting down the drive system to FWD only. Essentially a limp mode.

Ordered the replacement sensor. The parts guy new by the detail given in the error message that it was the post catalytic sensor which was faulty.

My question is simple. Where is this sensor, and how do I change it?

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