Thank you for all suggestions, but:
I replaced all Oxygen Sensors with the same, original Denso replacement: Denso DOX-0109 (this is normal O2 Sensor but without the connector). Link to DOX-0109 Description: http://denso.elcome.co.uk/ecat/Search/DOX-0109?root=http://www.denso-am.pl/&lang=pl
Now I do not have problems with rear Sensors, but only front. So now I have
P0130 - Oxygen Sensor Circuit Bank 1 Sensor 1
P0150 - Oxygen Sensor Circuit Bank 2 Sensor 1
I double checked few sites, which Sensor should I have and I found 2 versions:
front LH: 89465-50120
front Rh: 89465-50130
and my DOX-0109 is ok for both versions :|
The problem is with first sensors, so I think I can ignore catalyst problem etc
Is any possibility that the problem is not with the O2 sensor but something with fuel / injectors?
one more: previously I had CheckEngine light after about 40-50 km, now after 200-300 km.