You can swap the sensors around, if you like, the left & right are the same. (Front with front, rear with rear.)
I would swap the 2 rear sensors over & run it again. If the problem swaps sides, it's a bad sensor. If it doesn't, then it isn't, and then it might be a bad cat.
I did that when I was getting the errors, and it turned out to be a bad cat in the '08.
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