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Have you had the short and long terms fuel trims checked via an OBD scan tool?
If the O2 sensor is bad, this can cause a emission test failure because the ECU may be adding excessive fuel into the engine, you will also notice excessive fuel consumption.
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2A56 refers to the heating element inside the o2 sensor. I would advise getting the wiring tested and carrying out a resistance test on the heater element of the o2 sensor. The wiring near the exhaust can deteriorate because of exposure to heat and the road surface so it's best to make sure the wiring is good, before replacing the sensor.
Also, the 287D fault code, is likely to be a problem with the VANOS intake solenoid or the wiring. You will have 2 solenoids, one for the exhaust side and one for the intake side. This can also cause issues with emissions because it controls how much air is going into the engine at certain speed of the engine.
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You most likely will have to, they get clogged and worn out easily if the oil isn't changed more regularly than other engines without VANOS. Again, I would advise checking the wiring to the solenoid before calling it bad.
I wouldn't advise just changing parts without testing because if the problem is in the wiring, then fitting a new part won't do anything. You can replace them without testing anything and hope it's the part that is faulty, that is what most people do anyway but personally, I always advise on testing first, and then replacing the part if needed.