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I've replaced AFR and O2 sensors at 100k just as preventive maintenance, so don't feel like you've wasted the $. They get less accurate before going bad. As noted above, Denso makes the OE part. If you looked at the ones removed, you'd have seen the Denso brand on them, along with the Toyota P/N.
Someone needs to be looking at the data stream (freeze frame data) to see what parameter is out of range. That will allow for more focused troubleshooting. In general, when work is done and problems arise close on, look for bad/damaged/loose wiring, connections, etc.
The diagnostic flow charts almost all allow for the possibility of a bad ECU (for completeness), which is really pretty rare. You need to find a shop that takes pride in its diagnostic ability, invests in the tools and training, and does the work needed.
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