SOURCE: Mazda MPV V6 engine noise
My strong guess without looking at it would be a cracked exhaust manifold, when it gets hot the metal expands an it doesn't leak.
SOURCE: mazda mpv 2000
Possible problem is carbon build up in intake runners..remove top intake and clean runners..
SOURCE: Where is the bank 2 o2 sensor located on a 2004
bank 2 is the cylinder in the front of the engine compartment near the radiator, the O2 is either in the exhaust manifold of the bank or in the exhaust pipe off the manifold, round about the size of a jumbo magic marker, you need a special O2 sensor socket to remove it in some cases, if it is in the open then a 7/8 open end wrench will work.
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SOURCE: i need a diagram to find bank 1 sensor 1 on a
that is front engine part is bank 1 and sensor 1 is top one just behind radiator
SOURCE: Where is Bank 1 Sensor 2 located on a 2004 Mazda
bank 1 is the bank of cylinders closest to the firewall. the sensor will be located along the exhuast from that side after the catylitic converter
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