Well the factory sensors are Nippondenso / Denso . This code can be caused by several things. It can also be caused by the sensor it self . One thing that can cause this code is an over aged catalytic converter , if the air flow thru the converter is too high of a rate it will not allow the pre catalytic HO2 sensor to heat up to the proper heat range as desired by the PCM when the engine is cold.
A crack in the exhaust manifold / exhaust header pipe , exhaust leak pre catalytic converter , will cause small amounts of air to bypass the HO2 sensor and cause it not to heat up quickly enough during cold start, warm up modes. And lastly the HO2S itself may be aged and bad and the heating element may not be working to its full range on warm up.