When the oxygen sensor is not functioning properly, it can cause the air-fuel mixture to become imbalanced, leading to issues with engine performance, such as rough idling, hesitation, or knocking. Additionally, it can also affect the fuel efficiency of the vehicle, as it may cause the engine to run rich or lean, resulting in higher or lower fuel consumption. Furthermore, a faulty oxygen sensor can cause an increase in emissions, as it can prevent the engine from properly regulating the air-fuel mixture, leading to higher levels of pollutants being released into the atmosphere.
It is important to note that driving with a bad oxygen sensor for an extended period can also damage other components of the vehicle's emissions system, such as the catalytic converter, and may lead to further costly repairs.
If you suspect that the oxygen sensor in your 2000 Toyota Sienna may be faulty, it is highly recommended to have it inspected and replaced by a qualified technician as soon as possible.