yeah they have a great marketing reason for scanning your codes for free too. think about it. you go in, they scan your truck and see 3 codes, say O2, TPS and IAC
well we have all three of those back in the store, will you buy them? of course, you think you are fixing the truck. well what happens when you get home and install those 3 things and the light comes back? must have been something else but they already got your $ so you go back or take it somewhere else to try to get it fixed.
just cause it throws a code doesn't mean its the sensor. always write the code down, clear it and see if it comes back, if it comes back, start pulling on the wires, unplug the connector, clean it and try again. if it comes back, print out the flowchart how to diagnose the sensor to determine whats wrong. you can throw parts at a vehicle and maybe never fix it, its your money, I am telling you how to really diagnose it. now with an O2 its probably one of the front ones, bank 1 and the heater part is probably dead on it. heated o2s don't last very long and do need replacing.
hope this helps