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Many times a dirty or otherwise compromised connector for the o2 sensor can cause this problem. Clean it up and try again. If you want to go nuts, you can measure the absolute output with a volt meter to verify function. But the output of a healthy sensor is very very small, on the order of about 0.7volts and almost no amplitude so ANY amount of scuz on the connector will mess things up.
Clearing the codes..... this is covered in the repair FAQ.
Also, only adding 1 quart of oil in 5 years is not healthy. I hope you are including regular oil changes.
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