Had the classic symptoms of the sensor going bad, surging and stumbling at cruising speeds. Did the quick fix from the forums just for temporary drivability, and it threw a code. Dealer ordered a new sensor ($31), and I installed it and reset the code. Within 15 miles, the first time I cruised, it threw the code again, and still has all the symptoms of a bad sensor. I tested the EGR valve with a slight vacuum, and it worked fine.
Any thoughts on where to look next?