I think the O2 sensor codes are a BIG scam to make the dealership stealing service Dept's money. If you have replaced them and still get a problem code, something is mighty wrong.
I got this same code on my 98 Maxima at 16K, and it is running very good, with no loss of of power or any increase in fuel use.
So I am doing nothing till I notice a real problem, or my Maxima quits.
I understand in some states you are required to have the inspection, and a problem light is a problem. That's another state scam IMHO.