Tom Harrington 
2002 Toyota RAV4 SUV 2WD 4dr SUV (2.0L 4cyl 5M)
O2sensors
 This model has 4  o2 sensors they never work everytime i go to get tags i have to replace them at $250.00 ea. The check engine light has been on since i have owned the vehichle. Can reset engine light but it comes right back on. Took it to toyota dealer for recall but still no fix.