check engine light on

99 sonata gls v6. the light has been on for a while now. car runs good. i took it to advance auto parts and their reader gave me this message
P0161 O2 sensor heater circuit malfunction (bank 2 sensor 2)
P0154 O2 sensor ckt no activity (bank 2 sensor 1)
I understood there was a recall for O2 sensors but when I took it to the dealer all they did was reprogram the computer and the light was still on. What should i do next to repair it?

That light seems to be a major problem with Sonatas of all models. I have a 94 model (the 16 valve 2 litre one) and i have the same issue. One or two guys i have spoken to say to replace the full sensor kit, seems unnecessary when it is just one that is playing up!!!! Some of the others have said dont worry about it until it stays on permanently. But how will i know when there is a big problem if i ignore the light most of the time. I am ghoing to ask an independent guy about it and see what he can come up with, at least he wont be biased towards me spending a fortune on replacement genuine Hyundai parts..

if anyone can give me any advice on how to solve this problem , i will be grateful , as will any others that read these with the same question.
I will advise what the independent guy tells me.

I actually had the exact same issue with my 2002 GLSV6. When the light came on the second time, I took it back to the dealer and they admitted that the original reprogram was messed up, and so they either reprogrammed it correctly or replaced the sensor, but I have not had any problems since then. I would suggest going back to the dealer and telling them that the original recall did not fix the problem. Good luck!