A method for diagnosing a NOx sensor is provided. The method includes receiving data indicative of operating conditions of an engine or an aftertreatment system; determining, during a first period of time, that an amount of NOx output from the aftertreatment system satisfies a low NOx operating mode condition; determining, during a second period of time, that operating conditions for ammonia slip are present based on data regarding operation of the aftertreatment system; responsive to the determination that operating conditions for ammonia slip are present, determining that the amount of NOx output from the aftertreatment system satisfies a high NOx operating mode condition; comparing a difference between a minimum value from the first period of time and a maximum value from a second period of time to a diagnostic threshold; and responsive to the difference being less than the diagnostic threshold, setting an alert.