Any leak in the EGR system and problem with lazy O2 sensor will trigger P0171.
It will take time to troubleshoot this problem.
Check and clean the carbon built up on EGR valve and EGR air passage tube.
Replace the EGR base gasket.
O2 should be inspected or change if it's getting close to 36,000 miles.
Get Denso O2 sensor. It's a better by design.....compare to OEM and BOSCH O2.
Please post result on the comment page.
I will follow up.
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