I wanted to add to this. I just changed both my upstream sensors, I noticed the tips were different with the new Denso sensors. The sensors I removed only had a few holes near the tip, but the denso had numerous holes the full length of the tip.
How much different are these, if any...not sure of these are a suitable direct swap.
Mine are: Delphi ES20013 and have the 12583804 as an interchangeable item but that's not 100%.
I will say my driveability is much improved, still need to wait for a full block relearn to calculate MPG