HI all, I just found this forum today and signed up and did a lot of searching and reading of post. I have a 2009 120k miles avalon Limited V6 motor . I gained a lot of good info in here all ready . did a few hours of searching and this is what I came up with. I had the auto place do a scan yesterday and they came back with a few things to check. P0051 is the code im dealing with . I did the ohm reading on the heater leads of the O2 sensor and it was open . so bad heater, I believe and need to replace the O2 sensor and use a DENSO , I read is a good brand. I have a couple questions . Should the Heater have constant voltage ? Is there a relay running this heater? Thanks in advance all.