All sensors wear over time, o2 sensors have a life of 200 000 before they should be replaced before the results are not accurate.
Change the temp sensor on the manifold , all 4 o2 sensors and clean you intake/MAF it should run much better . As the computer is now getting correct information to map .
Also if you have time buy a cheap grounding kit off of ebay and ground the engine and its supports. Unless you are good with tools and can make your own factory matched ones. If the ground are over 5 years old they will degrade and not provide a clear signal to the ecu as well.