Hello all - error codes say that my O2 sensors (2010 Vantage V8 roadster - stick) are malfunctioning. I hear they do tend fo fail and to start by replacing the upstream sensors first. Mechanically the job doesn't look too difficult. But wondering if anyone has experience doing this. After the replacement does the computer automatically reset itself and clear the code? I am not able to pass emissions at this point because of the check engine light. Comments welcome please! Thank you.