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You have the information already. It is in the upstream O2 sensor circuit. Either a bad connection or the sensor itself. You were able to drive N miles without a light because it takes three failed cycles (starts) to trip the MIL for an O2 sensor.
From countless threads on EM, use only a Honda original sensor as ALL others have incompatible resistance or fail again too quickly. But before you drop the money on a new sensor, follow the service manual test procedure to look for a faulty connection.
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