Check Engine light goes on and off for the last 3 years

I have a 1999 Toyota Solara and for the last 3 years the (Check Engine light) goes on and off.

Cars seems to be running OK. Went to Auto Zone when I catch it on and they said it's a P1133.

Lately the lights on longer, half the time. The car still runs fine. Auto Zone says 4 codes show up only two different ones P1133 and P1153

P1133 Heated Oxygen Sensor (HO2S) insufficient switching bank 1 sensor 1 (Rear Bank)

P1153 Heated Oxygen Sensor (HO2S) insufficient switching bank 2 sensor 1 (Front Bank)

Before I go to the dealer and pay the big bucks I'd like your opinion.

Thanks in advance