With the system on test the 5-volt references to each sensor and look for the one that is low and replace that sensor. This guide can help, and I have included the engine PCM wiring diagrams so you can see how the system works and which sensor wires to test.
Repair Safety Notice: This information is for general instructional purposes only. Vehicle repair can be dangerous. Verify all information, follow manufacturer service procedures, use proper tools and safety equipment, and consult a qualified repair shop when needed.