Here is an answer from a mechanic to a question asking whether a faulty oxygen sensor could cause poor idling;
Oxygen sensors read the fuel mixture in the exhaust and send the information to the computer. The computer then adjusts the fuel mixture. By not replacing faulty oxygen sensors, you can expect erratic idle and poor running. Your car probably will not quit running but there could be damage to the catalytic converter
I don't know how many K's you car has travelled, but it wouldn't hurt to fit a new oxygen sensor anyway. You've nothing to lose and they do have a use by date.
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