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I had the same problem one morning (sudenly the lamp went on, but everything works fine)but the solution came with no diagnostics.
First of all, in talking to the dealer, I found out it's a pretty common thing that happened even on a brand new car, and no diagnostic would show any irregularities. Solution as I was said: The thing is, if you, just like me, live in countries outside of US, or EU, watch carefully where you'll fill your tank. It's cheaper for them to buy and sell the poor quality petrol.
However, my problem was that the day before I drove it few times, for short term every time. The temp was pretty low, and there was much of condense in the exhaust system, so the Lambda went crazy. As engine worked I watched the stain below the exhaust getting bigger and bigger. I know that is a common thing. But not the stain of radius of a half of sq.meter! It never happened again.
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