You may try to locate main oxygen sensor before CATALYTIC CONVERTER & after EXHAUST MANIFOLS on exhaust pipe connecting CAT & Exhaust Manifold. IF you cant' find one.
Then remove Exhaust Manifold Shield after lubricating all bolts (soaked properly) with WD40. And try to locate same near bottom end of exhaust manifold.
Using a pic posted
http://www.toyotanation.com/forum/t172418.html, The golden/brass element on immediate left of radiator cap and at bottom of radiator is main oxygen sensor mounter short flange connected to exhaust manifold by two bolts. You do not have to remove flange to remove main oxygen sensor. You may remove this sensor directly either from top by oxygen sensor slotted socket and long handed rachet, or from bottom using 7/8 or 22mm open end line wrench.
Normally Code 21 - Oxygen Sensor signal is generated, if there is any problem in this main oxygen sensor circuit. Your main oxygen sensor circuit seems OK so check engine light is not lit. But code sti 21 still persist coz it's recorded in ECU MEMORY, it seems previous owner when he worked on exhaust pipe maintenance might have replaced main oxygen sensor, but did not reset the memory resident code.
When you install sub-heated oxygen sensor and make sure both oxygen sesors are OK. You can reset memory resident code by removing negative terminal of battery for 2 to 3 minutes. and re-connect it.
NOW IT'S ENOUGH, WE WANNA SEE YOU

ONCE YOU FIX SUB-HEATED OXYGEN SENSOR & RESET MEMORY RESIDENT CODE.
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