if you shop around you may be able to get diagnostic for free, try autozone. if no auto problems, than i would not think the sensor needs replacement. it may be tripping due to slight but manageble issues like it may need a tune up, it may need a fuel system clean, etc.
rec. fuel system clean. ethanol treatment to 1 tank of premium fuel. ethanol blend in fuel causes build in fuel system, combustion chambers, exhaust system and causes increased wear to spark plugs. possible build up trippin your sensor.