Some info I found on the errors that might be helpful, if you have already checked the basics you might try reloading the map then move on to more serious checks of voltage and resistance. Also is the battery terminals tight? Good ground ?
•Short to voltage or ground on signal circuit
•Open or high resistance in signal circuit
•Wiring harness chafing/rubbing on exhaust components
•Water/oil intrusion at O2 sensor connector
•Broken lock or loose terminals on O2 sensor connector
Possible Solutions
First start the engine and bring it up to operating temperature and ensure the engine reaches closed loop. Then, using the live data function on a scan tool, observe the Bank 2,1 oxygen sensor voltage reading. Is it switching properly? If so, the problem may be an intermittently bad sensor or more likely a wiring problem. Visually check the O2 sensor wiring and repair as needed. Does the voltage for the Bank 2,1 oxygen sensor appear to be "stuck" and not moving? If so, increase idle speed for 30 seconds or so. If the sensor begins switching after a period of elevated idle, visually check the exhaust for holes or rust near the O2 sensor that could be affecting the voltage reading
If the exhaust checks out, suspect the sensor to be sluggish and replace it. If the Bank 2,1 oxygen sensor appears to be not switching, turn the engine off, and unplug the Bank 2,1 oxygen sensor. With KOEO (Key on engine off) jumper the O2 sensor signal wire to the ground wire. Now the voltage reading should be low (about 0.1v). If it is, then check for a bad connection at the O2 sensor connector. Repair as necessary. If no bad connection is found, replace the O2 sensor and re-check. If when you jumper the signal wire to the ground wire the voltage reading isn't low (about 0.1v), remove the jumper wire. Now check for voltage at the O2 sensor signal wire. It should have, with KOEO and O2 sensor unplugged, roughly 0.5 volts. If it does, check also for a good ground to the sensor as well. Repair as necessary
Check for loose connections, water intrusion at PCM connector, etc. If you have no 0.5 volt reference voltage, unplug the PCM connector and ohm the signal circuit and ground circuits. There should be no resistance nor any voltage. Repair excessive resistance. If you still have no 0.5 volt reference voltage, recheck at the PCM connector. It may be necessary to clip the signal wire to eliminate the possibility of a short or open somewhere. If you now have reference voltage present coming out of the PCM, fix open/short in signal circuit. If you have no reference voltage coming out of the PCM, the PCM will have to be diagnosed for a fault. It may be the problem.