This is a belated post, since I did this about 6 weeks ago. Just wanted to wait and see if it fixed things. It did.
Got code 25 one day and everything ran like it usually does. Just fine. Most likely oxygen sensors.
www.lexls.com has a super article on how to change primary and seconday o2 sensors.
I took all 4 out, and replaced them with the Walker ones without plugs from www.oxygensensors.com. Again, see www.lexls.com. One of my primary sensors was shot. The other was close. The secondaries were probably fine, but they are cheap.
A few notes on the process:
Mine appeared to be original. At 198K, that's incredible.
They are not hard to get out, but the o2 socket sold at oxygensensors.com (part 25001) will not fit the OEM primaries. It is not deep enough...the OEM ones are huge. However, it is very handy for getting the Walker primaries (particularly the one behind the sterring rack) tightened back in. It fits the Walker sensors nicely.
You'll need a 7/8"or 22mm combo wrench with a nice long shank....longer is better.
Its not a hard process, but it takes a while since you don't have a lot of room to work.
Splicing the wires on the Walker ones without plugs is not big deal, adds maybe an hour to the process. Basic soldering skills really.
Hope that helps.