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Shop says manifold must be removed to replace a sensor for $612. Reasonable? on 2001 Toyota Sienna

Rookie cbe0621eac06868b3efe0d8d1d3611e23c60d3114864ea2ec19a68cfbd3eebab
They say "Won't pass smog test if check engine light is on"
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sounds like a knock sensor issue to me. yes it does have to comr off,if you have 2 knock sensors repl both while there and ck wiring also
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