Denso 234-9007 Bank 1, Sensor 1
https://www.amazon.com/Denso-234-900...denso+234-9007
Denso 234-9009 Bank 2, Sensor 1
https://www.amazon.com/Denso-234-900...denso+234-9009
Denso 234-4137 Bank 1, Sensor 2
https://www.amazon.com/Denso-234-413...denso+234-4137
I think these part numbers are correct. See:
http://densoautoparts.com/
(Don't get universal fit)
Although it is tempting to change the cheapest one first (Bank 1, Sensor 2), normally Bank 1, Sensor 2 throws a P0420 code, not the ones you are seeing.