The lambda sensor produces a voltage for the engine management depending on how rich or lean the mixture is, say if it's rich the higher the voltage, so the ecu puts less fuel in to the engine to compensate, vice versa if it's lean, if the lamda sensor is faulty it takes longer for the ecu to receive the signal off the relay, say a brand new one takes 0.1 of a second, a worn out one takes around 2 seconds, maybe more, get the code read and see which ones faulty, that's what it sounds like to me matey!
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