P0051 O2 Sensor Issue 2002 Sentra GXE

[currybai]

My check engine light been on in my car for about 2 years now. Every time I get the code read it is for the P0051, Oxygen (A/F) Sensor Heater Control Circuit Low (Bank 2 Sensor 1). I got the O2 sensor replaced twice and it still has the same code. My car runs good, only 65k miles on it. The ECM seems fine and there is no foam on it which was recalled. I have a scanner and the ECM gives proper readings including the voltage reading for the four o2 sensors. If anyone has any suggestions, I would greatly appreciate it.

[RED_DET]

Did you have the CEL reset after you replaced the o2 sensor.

[currybai]

Did you have the CEL reset after you replaced the o2 sensor.

Yes I did. I actually cleared it several times but it always come back with the same code. Also I should mention that if I do not warm up my car and want to go around 60MPH, the car has a hard time shifting gears to go that fast. It would usually idle around 45 at like 2000rpm for like a minute until the car warms up and then decides to shift gears. If the car is warmed up then it has no problems
I attached an image of my 4 o2 sensors and how it does on a 36 frame test. Does it seem normal?