Q: Car hesitates when accelerating gently from low speeds. Ok once it gets going on 2001 Mercedes-Benz E430

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Local non mercedes mechanic thinks its an o2 sensor....but also that it might be the CAT converter
(1) Answer
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If it's not an obvious ignition problem it would be best to look at live sensor data and Mode 6 diagnostic information using a professional grade scan tool. He could compare operating waveforms on both banks of the engine to see if they differ from each other using an oscilloscope.

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