My gas mileage was around 14mpg, after changing the downstream o2 sensor (on the exhaust near the drivers seat under the car), I got 22mpg afterwards. I spent $60 for a universal Bosch o2 sensor instead of $170 for a Toyota one and spliced the wires, works perfect. Dealer price for any sensor is around $300 (1hr labor). There are 2 sensors up front in the engine bay and the one downstream one.
The front two are pretty easy to DIY, the downstream one I put the car on ramps to do, pretty easy as well, but it was stuck on pretty good. Had to take out the drivers seat to get to the wiring harness.
BTW, get a haynes manual for your car

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You'll get a CEL intermittently, and poor gas mileage; sometimes the exhaust will smell like gasoline (runs rich).