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It's not surprising you are being told multiple part numbers. Toyota's own factory service literature is inconsistent regarding the O2 sensor locations and nomenclature.
Most of the time (but not 100%), the drawings show bank 1 as the firewall side of the engine, and bank 2 as the side closest to the radiator and grille. There are 4 sensors in total, and apparently 3 different part numbers. The upstream sensors are located in the exhaust manifolds, close to the engine, and are called "air-fuel ratio sensors" in Toyo-lingo. The downstream sensors are located in the exhaust pipes below the engine and are called Oxygen sensors.
I checked the discount online parts catalogs at some dealers. Unfortunately, they don't provide part numbers, just prices, so this is as much info as I can give you.
Bank 1 Sensor 1 - Upper rear (also called upper right) A/F sensor - $170.26
Bank 2 Sensor 1 - Upper front (also called upper left) A/F sensor - $170.26
Bank 1 Sensor 2 - Lower rear (also called lower right) O2 sensor - $116.59
Bank 2 Sensor 2 - Lower front (also called lower left) O2 sensor - $131.33
It appears the upper sensors are identical for both banks, but the lower sensors are not.
Below the engine, the exhaust pipes from the front and rear cylinder banks converge into a single pipe.
The Bank2 Sensor2 should be located not far from that convergence, in the pipe that services the exhaust manifold closest to the front of the car.
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