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Q: Engine starts/idles fine but in Drive it stumbles/looses power then runs fine. on 2000 Chevrolet Impala

The engine starts and idles fine and initialy runs fine in Drive, but then it stumbles/looses power for 10 to 15 seconds then it clears up and runs fine again. A few times the engine has died after it stumbles/looses power, but it has always started and then runs fine. It does this same secquence each time you shut it off and let it sit for 30 to 45 minutes then restart and begin driving again. Initially when this problem started the "Check Engine" light came on and stayed on for a few days, but it has since gone off and stayed off. Any ideas what is causing the engine to stumble and loose power?
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I borrowed a code reader and the code is P0135 o2 Heater Circuit (Bank 1, Sensor 1). Would this o2 sensor issue cause the problem I described at the beginning of the blog?
Thanks, yes, it turned out to be the o2 sensor that's in front of the catalitic converter. The o2 sensor heater was bad, so it was sending faulty info to the computer causing the engine to stumble, loose power, and die until the engine got warm enough for the sensor to start sending good info to the computer. I replaced the o2 sensor and it runs fine again, and the check engine light went off and has stayed off for about 600 miles now. The engine code was P0135 o2 Heater Circuit (Bank 1, Sensor 1).
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