Of course, totally your call. Lots of fuel mileage can be wasted before the readings get out of parameters and turn on the MIL. Plus, by that time, catalytic converters that are good now, may well get damaged before the MIL comes on. I consider oxygen sensors as a maintenance item. I never wait till I have a misfire to change plugs and wires. I never wait till I am dead alongside the road before I replace the fuel pump, fuel filter and relay. I never wait till I have a no crank situation before a battery replacement. Again, your call.