You can replace HO2S2-B1 sensor only at this time and most likely it will fix the problem, assuming you don't have any other fault code. The OEM Bosch O2 sensors is really expensive, @ $150, but an NGK/NTK OEM-compatible, P/N: 24574, is good and priced right. Most sites sell this for @ $90 + shipping but you can get it right now from Amazon for $73 with free shipping. See link below.
http://www.amazon.com/NGK-24574-Oxygen- ... B001PN8TJA
That particular O2 sensor is mounted in front of Bank 1 Pre-Cat (horizontal mounting below engine) with a WHITE harness and a 4-wire connector in front of the radiator. Safely jack up the front pax side and then look at the exhaust manifold below the engine. You should be able see the HO2S2-B1 sensor. It is highly recommended to use an O2 sensor adapter (@ $10) but for this particular application, a 7/8" open end wrench will do the job. Apply a liberal amount of WD-40 and the likes before attempting removal. NEVER DROP an O2 sensor as it can get damaged. Make sure you apply anti-seize compound (comes with the part) during installation.