I am getting a check engine light now with 160000 miles, first time for this, I get a code 153 which it says Bank 2 Sensor 1, circuit slow, do I need to worry about it or just drive it, it's running great

 

The sensor could be tested, but with slow reaction it won't normally cause a problem, unless it gets worse, but they are fairly inexpensive if replacement wanted.
On one of my cars, a turbo rotary engine, I've had a CEL pop up every once in a while indicating ecu not seeing a signal in a certain period of time, car runs great
so I just let it go and finally the CEL hasn't come on again for probably 2 years now. Guess it fixed itself.

 

Thank You for your input, I don't drive it much and runs like new, I just don't want to get stranded with it someday