http://www.m3post.com/forums/showpost.php?p=15765053&postcount=78
Oxygen sensor, part/full-load diagnosis, before cat., bank 2
O2 Sensor Exhaust Sample Error (Bank 2 Sensor 1)
For O2 sensors, one of the easiest things to do for diagnosis is to clear the codes, clean the sensor, and then swap it with the sensor on the other bank. If the equivalent code for the other bank shows up, it's probably the sensor. If the code remains on the original bank after the swap, it could be the wiring or connector. Avoid the urge to just immediately replace the sensor.