I ran into EXACTLY the same situation and had mine replaced at the local Toyota dealership.
I don't think the 2nd bolt was ever there on mine.
This sensor plugs into a plug that is located under the passenger front seat, front left corner.
You do NOT need to remove the seat.
You remove the small plastic trim strip that runs along the left bottom of the passenger seat......3 phillips screws.
Then fold back the carpet and simply unplug the sensor....and push the wire/grommet down through the floor.
Bank1 Sensor 2, downstream oxygen sensor on my 2003 Sienna
Bank1 Sensor2 plug in location, front left side of passenger seat with trim strip removed. Located under cup holder location.