Is there anyway you could put a digital voltmeter on that sensor to see if it is switching like the article describes?
And, since the article points to possible unmetered oxygen entering the exhaust, I'd say a manifold leak could cause it. But, I'd try to rule out electrical problems in the circuit first.
I'd certainly "look" at the sensor and connector. If anything looks corroded or worn, repair it.
But really, isn't your truck under warranty? If it is, take it to a dealer - don't try to fix it yourself.
- Jack
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2014 F150 Platinum SCrew 3.5L EcoBoost 4x4 with SCT programmer
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