In my case, I replaced both O2 Sensors on bank 1 erased code drive around for 30 miles or so the code came back. I also changed the spark plugs and the wires since my truck has almost 125k miles so i figured its also worth it to change regardless. here is a photo of what they looked like.
the orange light still on, the next step is to replace the cat on bank 1 so i ordered a universal Magnaflow cat for $136 and its currently in shipping supposed to arrive sometimes on Tuesday, then i will go to one of the local muffler shops to replace it.
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Plugs don't look too bad. Also check your wiring loom going to the O2 sensors. The front driveshaft wore a hole in mine and then through one of the wires on my left rear O2 sensor. Caused a different code but I searched for the issue for a couple months and finally found it about 2 feet up the wiring loom.