If you have an OBD code reader what you might have seen was excessive short and long term fuel trim percentages. My daily driver is a 98 Honda Accord with 212,000 miles that still has the original O2 sensors. Fuel Trim should only be a few points while I getting in excess of 15% which is causing a rich fuel/air ratio. I'm down about 2 MPG from historical numbers and replacing the sensors is on my to do list for next oil change. Worn sensors won't trip a fault code, as in my case on the Honda, but will effect fuel usage and maybe engine idle performance.
Code readers make a great Father's Day or Birthday gift and thanks for the update.