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Yes, it could be a faulty O2 sensor. But it could also be something else causing a lean condition on that bank of cylinders, such as a vacuum leak at the intake manifold.

I *think* common wisdom is that O2 sensors should be replaced at 60K miles. The after-market sensor makers sure push that, but the OEMs don't.

Bottom line is that you can replace the sensors and see if that does the trick. If not, be prepared to do more troubleshooting. With 80K miles, new O2 sensors wouldn't be a complete waste, assuming they are not the cause of the CEL.
 
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