I'm getting P0158, P0161 and also the abs light is ON now.

I know they are O2 sensor related but which sensor is it exactly, as in driver or pass side and before or after the cat?

I know the pads and shoes will need replacement, but can this trigger the abs lihgt? I was hoping to do the brakes after the winter and not in the snow.

I appreciate any advise. Thank You.

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02 Jeep liberty gasser