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In most cases, this is a faulty sensor. the only job that the rear sensors have is to monitor the cat converter. inspect the wiring around the sensor and connector to be sure there is no defect. it is located under the car behind the cat converter toward the rear of the car. it is secured by a 7/8 hex. there is a special socket for the sensor or you can use a 7/8 open end wrench.
can you clarify this as well please,
is it ok to drive with this fault or does it need to be repalced immediately and what effects does this fault have on the car
no, you can drive the car this way. a faulty rear O2 sensor has no effect on engine performance. I would not delay too long in the repair but you can drive the way it is.