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Message: <blockquote data-quote="Svard75" data-source="post: 13670" data-attributes="member: 1851">Your vehicle really needs to plugged into a scantool capable of reading and logging sensor information while putting the vehicle into the same scenario to reproduce the problem.  A dirty O2 sensor would affect all driving conditions not just in reverse.  Normal operation of an O2 sensor is to get dirty, however during driving the soot should be burned off unless it's a heated O2 sensor.  If the soot does not burn off you're looking at a complete failure of the catalyst which is an expensive repair.  You most definitely would have a MIL (Service Engine Soon Light) of P0130,P0150 again depends on the issue.</blockquote>