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20KOhm impedance is not enough. The problem is that the O2 sensor doesn't really have any power behind the signal...so if you try to drive a 20k load with it, the voltage will droop. That's my limited understanding, anyway.
FWIW my cheapie analog meter was (*I think*) 20KOhm impedance, and it didn't show jack shit.
Try it..but if you don't get a signal, don't conclude it's a bad sensor.
Here they say 10 MOhm is the 'typical' recommendation:
http://www.swedishbricks.net/faq/fio2.html
Maybe an EE will come along and 'splain us.
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