2002 GS 300, 6 cylinder inline engine
Code: P0141
Translation: O2 sensor heater circuit malfunction, bank 1 sensor 2

No other codes detected.

So let me summarize what I've discovered so far:

Bank 1 is the set of sensors closest to the front of the car (nearest cylinder #1).
Sensor 2 is the downstream sensor.

OK so far. Now what to do about it. I checked the connection between the sensor in question and the wiring loom. No obvious loose connections.

Questions:

Is there anything other than a failure of the sensor itself that would cause this code? Anything I should check before I order a new sensor?

Any tips on how to get the connector loose?

I'm going to guess that if the problem is in the heater circuit that it only affects operation when the engine is cold. I assume that the sensor has all the heat it could possibly want when the engine is hot. Is this correct or will the heater circuit failure result in default mode running regardless of how hot the sensor may be?

Any possible damage if I drive the car while awaiting a new sensor?

Thanks