Took my 2001, 3.0 into the dealer for a routine oil change, and to have the SES light de-coded.
Turns out the O2 system needed an upgrade to the program and they wanted well north of $100 bucks to reprogram.
I spoke to the Service Advisor and he let me know it was out of warranty by 1500 miles and I was SOL. We discussed it and dediced to seek another opinion. In short, they covered the reprogramming, washed the car, and delivered it back with no charge... cool.
Seems to be a good dealership. I'll give them all 5's on the survey.