Nissan Murano 04 OBD II P1168 y P1051 - 2003 Nissan Murano

https://www.yourmechanic.com/article/p0340-obd-ii-trouble-code-camshaft-position-sensor-circuit-malfunction-by-jamahl-walker

P1051 and P1168 are addressed in a TSB from Nissan, and involve issues with the air fuel sensor on the engine. This may also be triggering the P0300 code if the ECM is not programming fuel properly. I recommend checking with a Nissan dealer to see if the tech service bulletin will cover the issues you're having.

http://ww2.justanswer.com/uploads/baddad1/2009-10-27_185251_NTB04-032a.pdf

Here is a link that might help you

Replace the power steering pressure sensor. replace both the O2 sensors.

you will need a workshop manual to see how to set the mode for the scan to make the connection to the scan tool

51 and 1168 are O2 sensors. Check for vacuum leaks and make sure the hoses are hooked and tight from the air filter box to the throttle body. P0725 is engine speed sensor/ input shaft speed sensor on the transmission.

whitch nissan

p1051 and p1168:

P1051 A/F Sensor Heater (Added 29APR2007)
p1168 A/F Sensor Heater.

A/F Sensor The air fuel ratio (A/F) sensor like the oxygen sensor is used by the powertrain control module to measure the amount of oxygen in the exhaust. The PCM uses this data to control the air fuel mixture in the engine. The (A/F) sensor can meter fuel more accurately than an oxygen sensor. The A/F sensor changes current output by measuring the amount of oxygen in the exhaust. The A/F sensor operates at a much higher temperature than an oxygen sensor. The PCM measures the amount of current that is output by the A/F sensor and converts this current flow data to a voltage signal. When the mixture is lean and the oxygen content is high the voltage signal will be above 3.3V. When the mixture is rich and the oxygen content is low the voltage signal will be below 3.3V. When the mixture is at 14.7 to 1 the voltage signal will be at 3.3V. The heater circuit in the A/F sensor shortens the time required for the sensor to reach operating temperature and provides a more accurate signal.
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The A/F error is like an Oxygen Sensor error. There could be a problem with this sensor or the wiring to it causing voltages to be out of specifications.

hook an OBD-II scanner up to the OBD-II socket and press 'erase' codes on the scanner. This will turn off the light as long as the problem has been solved.

P0151 Front O2 Sensor, Bank 2 Lean Shift Monitoring,P1168 Closed Loop, Bank 2 i would do the o2 sensor on this side..and thats it unless you get something else