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FWIW, I have my original sensors in my 135k mile Expy. Over the years I've read many accounts whereby posters mention improved performance and mileage after replacing O2 sensors. I cannot confirm or deny their statements, all I can say is my performance and mileage have always stunk....hot & humid days being the worst.
I recently replaced the upstream 02's on my 98 E350 van (v10). Giving me about 1 mpg or more better. Need to do the plugs too - Oye what a job.
No hp unless there is a code somewhere, could/probably is showing you need maintenance:
fuel filter
oil filter
air filter
clean MAF sensor
plugs
clean TB
check vacuum lines
clean fuel system or take injectors out and have them cleaned.
change/flush tranny fluid
could change 02's if mileage is high enough - they do become less efficient over time, even though they work good enough not to trhow a code
Do the basics and see what happens. You and your truck will be happy