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A member identified the passenger side ticking noise as the exhaust manifold bolts burning-off (should be a recall) that was the problem. The repair suggestions were right on, especially removing the fender liner. A side note, the exhaust bolts are only torqued to 17 ft/lbs so they come out quite easily. O2 and EGR readings seem to have improved. Thank you all.
Gas mileage is bad, black tailpipe. O2 sensor light still comes off/on after replacing O2 sensor. Ticking noise passenger side of engine. 42000 miles.