I changed the front o2 sensor but not the rear. The code stayed off for a few hundred miles but now it's back. I haven't checked the code yet but i'm assuming it's the same. I guess I'll change the rear o2 sensor. The o2 sensors looked fine. They weren't particularly caked up but the car does have 100k on it so to me they looked like used o2 sensors.
For the front o2 sensor amazon was $20 cheaper than rockauto for the same brand, Acdelco.
It's my wife's car so I'll have to ask her if her fuel mileage improved. I would expect it to with a new front o2 sensor.