So I got an 07 GS350 awd with 200,000 km on it, only had it for a couple weeks and it was fine. Then one day when messing with the sound system for a few minutes the battery died, after jumping the car it turned back on and showed "Check VSC" with engine and brake system lights. From here I disconnected the battery to reset the computer and all the errors went away, but a few days later they returned. I changed the battery and they still came back. At this point, if I reset the computer the errors go away when starting, but return after going a few meters.

I pulled up the codes and got P0057 bad heating element on O2 sensor bank 2 sensor 2, if I delete the code it just returns. So that would point to a bad O2 sensor? Where should I go from here? I don't know which side is bank 1 and bank 2 and can't seem to find any information on it for this model. Also, some videos on youtube show that you have to dismantle the entire center console and remove the seat to get to the plug, is that all necessary to get to the sensor? Anything else I should troubleshoot?

Any advice would be appreciated, thanks in advance.