ALWAYS GAP YOUR SPARK PLUGS!!!!!!!!
I had the same problem on my 02 REX when I had it, I put new plugs in and didn't gap them and it was still throwing the code, so I went BACK in and changed the plugs AGAIN, only this time I gapped them. The difference was unbelivable. From the factory those plugs can be up to .1 off from eachother, and if they are all gapped exactly the same you're engine will run mint.