An engine control module includes an exhaust heating module, a temperature determination module, and a resistance measuring module. The exhaust heating module operates an engine at a predetermined speed to generate an exhaust gas having a predetermined temperature. The exhaust gas heats a heating element of an oxygen sensor. The temperature determination module determines, based on the predetermined speed, when the heating element is heated to the predetermined temperature. The resistance measuring module determines a resistance of the heating element when the heating element is heated to the predetermined temperature.