Check Engine Light Due to Failed Oxygen Sensor on Toyota RAV4

Problem Description and Possible Solution

One or more oxygen sensors may fail resulting in illumination of the Check Engine Light.

Problem Data
RepairPal Verified
Average mileage: 79,333 (10,500–178,107)
7 model years affected: 1998, 2001, 2006, 2007, more2010, 2011, 2012
28 people reported this problem
Viewing 1 - 10 of 10 comments
I purchased this vehicle as a used vehicle from Toyota of Nashua. I did not take out the extended warranty as i knew it was a Toyota , and was a super reliable vehicle and it only had 19,000 miles on it and was a one owner. NOw i am running into sensor issues. I only have 43, 600 miles on it. My mechanic replaced the rear sensor as that is what the code was for. next day the lights came back on, same lights, brought it back and same code ca me up, they figured it must be a faulty sensor, so they put a new on ein today and same codes were coming up. so now they think maybe the front sensor is bad. Its gonna cost mre now alot more money. they say if thats not doesn't fix it , it coudl be the computer, the computer in the car that is. this doesn't make sense. Is there a recall on this issue?
Oxygen sensors
Both oxygen sensors went, first one was replaced, an hour after the dealership fixed it light came back on and the second one had to be replaced. Cost $880. Drive the car out of the dealership and bought a Mitsubishi Outlander Sport. The RAV4 cost me so much money in the 2 years that I had it, bought it used with 19,000 miles. Will never buy another again
All the lights came on
Light come on with 02 bad sensor
initially told "sensor" problem for $300, now it is brake actuator assembly problem at $3000. told by Toyota customer service this is "normal wear and tear" for brake system… I don't think so. Still in process of dealing with this as per internet it is a recurring problem with Toyota and Rav 4 some 2012-2014. Mine is 2010. they also did recalls for some Lexus and Tacoma models.
Not fixed yet. Have been told to replace the exhaust manifold because Cat is clogged. Car runs great, and great mpg at 28.

Engine light comes on within 1/2 mile after being reset at mechanics shop.
Check engine would come on for a day or two and then turn off again. Code came up as o2 sensor. One time it stayed on for a week and then went off. Went ahead and replaced it thru my normal shop (not dealer) just to get ahead of it. They said it was most likely on its way out.
How does this happen so soon?? Only had car 1Yr bought from Carmax
I want to know how to replace the sensor.