04 venture - Service Engine Soon - o2 sensor

Servie Engine Soon light came on yesterday on my wifes way home from work. I went to Auto Zone and they read the codes for me. They didnt give me the actual code number but the guy said "you had a low voltage reading to your front o2 sensor. Actually - it was in there twice. chances are the connection is corroded."

is this common? I plan on taking it to my buddies to get it up on the hoist and clean things up.

if this doesnt fix the problem - what will be my next step? New o2 sensor?

My uncles had the same problem on his 02, P code says the o2 sensor, there are 2 of them, service light was going on and off, went away after a couple of weeks,not sure if the gas additive we used helped in anyway but worth a try, I checked on the prices and were about $50-75 ea.

the bank one sensor[front one] is easily reached from the bottom side . go up by the exhaust pipe. either on a rack or set of ramps [low set] .

may be it's easily reached for someone with small long hands, I know for fact I have had problems reaching it and replacing it, major PITA, but after that have had to "re-learn the computer" procedure and everything was fine.