I get these two codes:PO130 and PO134 on my 2002 SL. The car runs good
. I tried to clear the codes but they come back after 15 minutes of driving.
Does anyone know what these codes are? Can I run the car with these
codes?

Thanks

 

Both are O2 sensor codes

P013002 Sensor Circuit Malfunction (Bank I Sensor 1)
P013402 Sensor Circuit No Activity Detected (Bank I Sensor 1)

Sounds like either a wiring issue (check FIRST) or a bad O2 sensor.

 

Derf has the answer there - specifically, the upstream O2 sensor is the one throwing codes. Connections, connections, connections ... then worry about the possibility of changing it out