It's hard to tell from here. You'll need to take it in and have them scan the ecu and test the 02's to figure out which ones need to be replaced and which ones are miss reading because of the fuault codes. DO NOT RESET THE ECU!!! The tech will need to read the info there to make it easier. the hand held scanners at the parts stores only read the codes and can interpret the basic info. the scanners the techs use at Toyota can tell them much more info. You probalby have a heater wire issue. It's a known problem. If they say they have to replce the 02's, you can buy them on ebay pretty cheap, but make sure you stay with Denso's. Don't use Bosch or some generic, as Denso's seem to be the only ones that work right.
when my car idles it fine but when i drive and let it ride, it starts to act funny meaning the rpm gauge drops down below 1. i was told not to drive my car anymore. :( not sure what to do now.