an 02 sensor is only a input it cannot make changes it only supplies information to the pcm to make the changes if the 02 sensor gets old(tired) it starts to switch slower this will intern cause a service engine light to come yypical code
p1150/p1158 02 lack of switching on this is on newer ford products it will not provide wrong information. it can only provide what it senses or not..
a 02 sensor is an on/off switch and only reads oxygen...
if you have lean codes I will place money on it that the 02 sensor is not the casual part that is causing the concern

 

I did all 4 on my truck with a box wrench and did'nt have to jack it up to get at them. The only trouble I had was pluging it the new heated sensor on the passengers side. There's not much room for your arm.