Your self adaptation reached limits.
P0170 - Self adaptation of the partial load or idle mixture formation for right cylinder bank to limit value of ME-SFI control module (N3/10)
P0173 - Same thing just for Left cylinder bank
Could be air leak, fuel injectors of diaphragm-type pressure regulating valve, wear to engine
I would suggest to check all four CO2 (oxygen) sensors or your air supply tube to throttle valve body came loose.
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1999 ML320 203K miles
2003 Lexus GX470 268K miles
1980 280SE EURO W126 156K miles 142mph SOLD
1984 300D TURBO DIESEL W123 SOLD
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