Is there something contaminating the O2 sensor, like wrong fuel, certain gasket sealing compounds etc.
You could do the following check described on the KiaTech web site.
1. Warm up the engine to normal operating temperature.
2. Run engine at idle speed.
3. Connect a voltmeter between terminal 4 (BLK wire) and ground.
4. Increase and decrease the engine speed quickly several times.
5. Verify that the meter reading varies between 0-1.0 V.
If it doesn't respond lively around those voltage values, then the O2 sensor is bad.
You can reset (clear the error codes) the ECU by disconnecting the battery for a few minutes.
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