F-150 2002

Truck is throwing codes

P0141 O2 Heater Circuit (bank 1, sensor 2)
P0156 O2 Circuit (bank 2, sensor 2)
P0158 O2 Circuit High Voltage (bank 2, sensor 2)
P0161 O2 Heater Circuit (bank 2, sensor 2)


Truck is running rough. Idle is at 650 but there is hesitation and sluggish on acceleration.

I have changed PCV value, fuel filter, done a vacuum test (steady at 19).

Any thoughts or suggestions any one has would be a help?