Why would a Denso representative lie to you? I am sure he has your best interest in hearts 
Do you think manufacturer will put a sensor which has lifetime of 30K when he is federally on the hook to provide the emission coverage for 8/80K?
You replace O2 sensor when they fail or become marginal and that is NOT based on only mileage. It is true that they can become marginal before computer throws a code but unless you notice drive-ability problems, you should leave the O2 sensors alone.
If you have more money, buy a good scanner/scope and look at the sensor output in the realtime. Then you can intelligently decide if the time has come to replace a marginal sensor.
- Vikas
Do you think manufacturer will put a sensor which has lifetime of 30K when he is federally on the hook to provide the emission coverage for 8/80K?
You replace O2 sensor when they fail or become marginal and that is NOT based on only mileage. It is true that they can become marginal before computer throws a code but unless you notice drive-ability problems, you should leave the O2 sensors alone.
If you have more money, buy a good scanner/scope and look at the sensor output in the realtime. Then you can intelligently decide if the time has come to replace a marginal sensor.
- Vikas