Whats up 2002 Toyota sienna check engine light is lit runs good sounds good drives good no obvious loose or damaged hoses wires fluids good gas cap seal looks good no blown fuses?

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I have this model vehicle with the same problem. My friend has a code reader which states my engine light is related to an emissions problem. We are going to change out the front oxygen sensor to see if this fixes the problem. There is a rear oxygen sensor that is harder to get to or there may also be a problem with the catalytic converters (expensive). Will let u know if the front oxygen sensor replacements worked