The scanner or code does not say "the sensor needs to be changed", only that there is some sort of unusual reading coming from the circuit that goes to that sensor. From my personal experience if you see a code that states an O2 sensor it's only an issue with the actual sensor half of the time. Quite common to see wires frayed or broke, or the connector corroded or bad........or of course the sensor could be reading perfectly correctly but the engine is not running correctly. Still remember my first experience where a buddy literally replaced the same O2 sensor 4 times and the code still came back. When I took a look it took about 30 seconds to find the wiring melted against the exhaust. 5 minutes later and a little wiring work it was fixed.