A method for diagnosing NOx sensors in an exhaust aftertreatment system includes suspending reductant dosing in an exhaust aftertreatment system; purging a reductant deposit in a selective catalytic reduction (SCR) system of the exhaust aftertreatment system; adjusting at least one of an ignition timing and an engine speed for an engine to adjust an engine out nitrogen oxide (NOx) amount; receiving measured SCR inlet NOx data from a SCR inlet NOx sensor and measured SCR outlet NOx data from a SCR outlet NOx sensor; determining a phase shift between the measured SCR inlet and SCR outlet NOx data; applying the determined phase shift to the SCR outlet NOx data; and determining a diagnostic feature based on the SCR inlet NOx data and the phase shifted SCR outlet NOx data regarding a state of the SCR inlet and outlet NOx sensors.