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P0153 says that the computer is unhappy with the drivers side bank 2 upstream O2 sensor switching speed, that it's slow & lazy & that comes with age, sorta like pawpaw!!!! lol
Anyway if these are the OEM O2 sensors, or they have 100K miles or more on them & you choose to change the bank 2 sensor, also consider changing the bank 1 upstream sensor, so you have a matched pair. The computer would appreciate that!!!!
While your servicing the O2 sensors, be sure to pull the B- battery cable, to wipe the computers memory, so it knows the repair has been done & can begin to rebuild new fuel trim tables, using the new O2 sensors input.
Also be sure to put some high temp nickel anti-sieze compound on the O2 sensors threads.
As a side, you may notice improved mpg with new O2 sensors.
More thoughts for consideration, let us know how it goes.