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If your Honda Pilot failed the emissions test due to high NOX, the EGR Valve is most likely the issue. If your Honda is running rough or has poor fuel mileage, replace the Pilot EGR Valve and gasket.
The Honda Pilot Oxygen sensor is a critical part of the emmision control system and should be replaced as soon as it fails. Make sure to check the Honda Pilot diagnosics codes for proper replacement of the O2 Sensor.