I have had a problem with 3 bosch 02 sensors I have put on hondas with hesitation. I bought the $40 "factory" replacement ones. On my own car I tried one and it worked for about 3 days. I went out and bought a denso 02 sensor and never had a problem again. try unplugging your 02 sensor and driving on it. some of the hesitation should go away. if it does then that is your problem.