I get this error when dignosing my check engine light. i have replaced the EGR valve and temp sensor but the problem is still not fixed. Any ideas? I need to get this fixed as well as my O2 sensor to get my car inspected. My o2 sensor error reads Front Right Htd 02 sensor heater. Which o2 sensor is this one exactly?
Thank You

 

Oxygen sensor: http://www.courtesyparts.com/A32_O2-sensors.html - its the one before the cat but closest to the firewall (marked RH in the picture).

EGR: Your problem is most likely a clogged EGR tube - the one that goes from the valve to the intake manifold right under the IACV/TB. I have the same problem - haven't tackled it yet, but any competent mechanic or dealer should be able to take care of it. I would imagine paying about 2 hours of labor at a shop for them to open it all up and clean it out.