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Yep, he's right from everything I've read and learned over the years. The sensor needs an ambient reference from outside/atmosphere to compare the exhaust gas to. I don't know how the reference air circulates or is replaced over time and I'm no expert on the subject, but this is an often...

I'm not an engineer, but I've read that engines using valve overlap can get some complex airflow inside the inlet manifold that one sensor alone can't accurately measure. Also, some engines use stratified charge mode (throttle valve fully open, engine speed/load controlled by injector...