Yes mate the engine light will come on. Had this when I had a decat, I did notice tho that when I fitted the senor I didn't do it up tight only hand tight and the light never came back on it was on there for 2 months. Altho it didn't effect the performance when the light was on. The only way to stop light coming on is to have a stage 2 map from what I've been told.
The post cat lambda sensor monitors the performance of the cat to ensure its working effectively, I think if you leave it out exposed then you will maybe have more problems than just unplugging it and bringing the light on.
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