I replaced the cable (same as a Honda Odyssey, I think?) with no improvement. I then replaced the ECU and the fault disappeared, but several months later it reappeared and remains.
When the sensor fails and you ride with the F1 light on, the engine exhaust gets particularly hot and melts the cable/connector. So that needs to be replaced.
My guess is that the sensor fails somehow and damages the ECU, so both need to be replaced together alomng with the cable to resolve the fault.