I have a 2002 f150 with 5.4. I have p1151 code that keeps coming up after about 15 minutes of running. I reached up to the sensor to make sure it was plugged in and my exhaust was cool. Checked the other side and it was to hot to touch. I'm thinking that is the reason for the code. I also have a high idle. Around 1200 rpms. What do y'all think could be the right reason for that? It has new plugs and injectors.