Getting OBD-II code P1131 on 1999 Ford F150

Thanks all. I cleared the code and it hasn’t come back but only driven it 30 miles since then have no clue how long to expect it would take before it would come on again if bad sensor.

I am investigating scanners and software. I’m curious but not planning to become a mechanic so spending a bundle is out of the question… so I’m thinking one of those cheap USB to laptop interfaces … and ProScan software (myscantool.com) … any recommendations along those lines?