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You don't mention whether you have a gas or diesel engine, this affects where the BARO sensor is located. Regardless of location this code can occur when moisture freezes on/in the BARO sensor.

Beyond that, you're going to need why the code set, which direction is was out of spec, what the voltages/pressures/conditions were when it failed it's diagnostics to go farther.

On gas engine engine you COULD be looking at a failed "MAF" sensor, or it's wiring, on the diesel it's integrated into the ECM. Either way diag is required if the condition persists
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