Correct, just a TSB so you pay now out of warranty. Probably would not hurt to call your local dealer, explain you are not the original owner, and give them you VIN and have them check for the ECU recall, better safe than sorry.
Sign up here to see the past history of your car:
http://www.toyota.com/owners/ Maybe the ECU was replaced in the past.
It doesn't hurt to disconnect the battery, short term memory can reset but is not necessary for a sensor change. Clear the codes after the install and let idle for a few min to see if the codes comes back. May have to hit the sensor with a lube oil a day before to let it soak in to ease in the removal of the sensor. Be careful not to strip the threads.