SES light came on yesterday so first thing I did was call MINI and make an appointment for Thursday. Today I went to Autozone and had them read the code and it came up as P0036, which is the HO2S Heater control circuit. My R53 is not new but new to me and at 61k. Is this repair covered under that 10yr/100k O2 sensor warranty? I have no idea. Saw it mentioned a couple of places but is news to me.