There is only one oxygen sensor you need to replace - it's the one in front of the catalytic converter. If you go to this website http://tinyurl.com/njqgt and type in "oxygen sensor" in the space for keyword, you'll see a new front sensor for a Federal emission ES like yours is about $114.00 with free delivery via UPS Ground This genuine Toyota sensor will look and fit perfectly, just like the factory original one and will last just as long. And after front sensor replacement, fuel economy should improve noticably. The rear sensor (behind the catalytic converter) should last many more years before it needs to be replaced.
Beware the sensors available from aftermarket websites like oxygensensors.com may not be identical in every respect so the functionality, reliability and durability of the sensor may not be as good either. The aftermarket websites also provide generic replacement advice rather than Toyota specific advice, so that's why they will say you need to replace the rear sensor too.
Also beware some people will likely say you could buy a "universal" sensor for only about $70 from aftermarket websites (or $23 on ebay) and that using a universal sensor will not compromise functionality, reliability and durability. But then they will tell you that to install a universal sensor one needs to solder, splice, heat shrink, crimp, tape, etc. 3-4 wires. So who knows how long a home made wire job using hardware store electical supplies will stand up to summer heat, winter cold, fog, flooding rains, road dust, road debris, etc ??