Was able to get a code reader and reading
P0340 CPS
P0141 O2 sensor

Been driving around today with multi trips and didn’t stall on me one but have codes pop back up after clearing them. Also been kind of noticing a bit worst fuel mileage too. Maybe I should just change the damn thing. Is there one for intake and one for exhaust ? The one by the oil filter is the intake and easier one to change first I guess?

__________________
2002 X5 3.0i Sport