Assuming you have the V6.
Bank 1 sensor 2.
It's actually the A:F sensor.
Basically the same thing.
Bank 1 is the rear for the MZ engine family [V6 is the 1MZFE or 3MZFE].
Sensor 1 is before the cat [so in the exhaust man.].
Basically it's the PITA one.
If you have a 4 cyl, it's the only A:F sensor in the exhaust man [engine only has one bank].
Making it alot easier to get to than the V6.
Just so you know, it is slightly possible it could be the wiring or the ecu.
But 9 times out of 10, it's the A:F sensor.