In general, folks wait WAY TOO LONG to change the O2 sensors. The sensors get "slow" as they age. They still work...but not like they should.
Changing all four is VERY recommended. You might as well buy the Lisle re-threading tool so you can restore the threads in the exhaust system that the sensors screw into.
www.amazon.com/Lisle-12230-Oxygen-Sensor-Thread/dp/B000XETMW0/ref=sr_1_5?crid=1Q2WJHIQNW3ZV
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And remember that when the O2 sensor is really seized in place, O2 "sockets" are friggin' useless. They have a split down one side to clear the wire harness; and the split spreads open. Then the socket slips on the sensor hex, rounding off the corners. O2 sensor sockets are great for INSTALLING O2 sensors, not for removing them. When an O2 sensor is really stuck, you'll need to cut the wire harness and use a deepwell 6-point impact socket. The tricky part is that MOST deepwell impact sockets don't have clearance inside the socket for the sensor body. My Snap-On impact sockets don't. Neither does SK. But Wright makes an impact socket that works great. Wright is a family-owned "industrial" tool company that makes product in the USA.
www.amazon.com/Wright-Tool-4928-6-Point-Impact/dp/B002VKBRCC/ref=sr_1_3?crid=3L5J4S1KSCVJE
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I think I used NTK or Denso on my '97 7.4L. I don't remember the part numbers. I had multiple codes for heater circuit; along with slow-reponse and other problems. The heater circuit "could" be in the wire harness connected to the O2 sensor...but I figured the sensors were old enough that I didn't trust em. I chose wisely, none of my O2 sensor codes came back with the new sensors.
I got mine from Amazon.