You can replace only the bad one(s). Brand doesn't matter. They are very easy to do , so no big deal. If You have a lot of miles and thats the first one to go then perhaps a set wouldn't be a bad idea, but I just replaced one when it started tripping the CEL and the other three are still w/o issue. (Whoops, that was in the 2000 which was sold-haven't replaced any in the '01 yet)