My '99 Camry, '03 CRV and '10 Tundra all seemed to need around 160k. My departed '04 TDi needed one at 255k but that was because the turbo grenaded; apparently O2 sensors do not like oil. Am waiting for the sensors to go on our '11 Camry, 224k and counting, not sure if I want to proactively replace or just wait it out.Depends on the mileage, they say 50-60k but they seem to last about 100-125k. Had to do my upstream sensors on my Taurus at around 120k, threw a code.
I think every single sensor I replaced was with a Denso. I didn't feel like messing around, and none of them were that expensive ($100 and down, if not significantly less--don't remember now).