I went offroading the Saturday before last. I bottomed out in a mud pit, and the chassis dragged. I got stuck, and I turned the vehicle off while getting my winch ready. When I turned it on, engine light appeared. On the way home, rough idling 24/7. Got home, cleaned connector to bank 1, sensor 1 O2 sensor. Code temporarily went off (I disconnected the battery, do not know if that is responsible for it). It idled smoothly though. The next day on the way home, I noticed the truck idles roughly spontaneously, but not all the time. The day after that, the engine light came back on. The truck is still muddy, and has been sitting for about 5 days as I hadn't had time to look at it quite yet. I've read so far to check for an exhaust leak near the manifold, and vacuum tube leak. I am getting the sense that the O2 sensors are not responsible. I recently replaced the O2 sensors (less than 3k miles), and MAF sensor over the summer. It is just odd that the code shot on after the chassis dragged. It is my daily driver, so I do need to fix it soon. I assume that it wouldn't be wise to drive it currently, so I do not destroy the catalytic converters. I do not know if this information is needed, but the engine block currently being used is temporary, and will be replaced at the latest by December (main seal oil leaks). Engine ships from Atlantic British in 3 weeks. Thanks for anyone who has any advice!