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You want real Denso sensors. I have ordered them in the past for other vehicles we own (Jaguar and Subaru). My sources were Amazon and Rockauto. Do your research and be certain you are not ordering fake Denso sensors.
Avoid Walker. They are usually outsourced junk for a high price. Their exhaust components are usually made with mild steel instead of 409 stainless like factory stuff so it'll rust before you know it, and their welds and fitment are sloppy, plus the steel they use is thin. Lots of examples on Toyota Nation from Highlander owners. Stick to Denso or as an alternative NTK for budget O2 sensors, don't get Bosch or any of the other brands, our ECUs don't play nice with them. If you do need a new catalytic converter at the end of the day, get a Magnaflow 8" 2.5" in/out diameter 409 stainless cat welded in, don't open up a can of worms by having the manifold taken off if you can avoid it, as there is a good chance studs will snap off and will have to be extracted due to rust.