NOTE: If the warm up TWC is damaged internally, inspect the under-floor TWC for debris.
Raise the vehicle on a lift.
Remove the bolts (A).

Lower the vehicle.
Remove the A/F sensor (Sensor 1).
Remove the EGR pipe.
Remove the cover (A).

Remove the bolts (B) and the nuts (C).
Remove the WU-TWC (D).
Install the parts in the reverse order of removal with new gaskets (E).
How to Enter Information
You can enter information (e.g., city names, street names, personal names,
and business names comprising letters, numbers, and symbols)
when prompted on input screens by two different methods. ...
VSA® (Vehicle Stability Assist), aka ESC (Electronic Stability Control),
System
VSA® helps to stabilize the vehicle during cornering if the vehicle turns
more or less
than what was intended. It also assists in maintaining traction on slippery
surfaces.
It does so by regu ...
Ignition Coil and Spark Plug Removal/Installation
Remove the under-cowl panel.
Disconnect the ignition coil connectors (A), then remove the ignition
coils (B).
Remove the spark plugs, and inspect them.
...