First, I would quite dumping in chemical cleaners. They can sometimes make things worse. It's like using to much nasal spray for allergy suffers.
With the age and miles, O2 sensors do degrade. They can become erratic or slow to respond like they should and this can cause errors.
It is not a bad idea to replace all the O2 sensors after an engine reaches higher mileage.
If you can get or have a good OBD II scanner that can read live data, it may help to see what the O2 sensors are reading.
Bu I would just replace that after cat O2 sensor for a start.
Some replace all of them after 100K miles or so just as general maintenance. It can also return better MPG if they have gotten "lazy" and slow to respond to exhaust stream changes.
I had one slow O2 sensor on my 2015 3.6L V6. MPG improved +2 MPG after replacing it.
A slow responding O2 sensor may not post any errors until it gets quite out of spec.