According to the two codes, for sure you need a new sensor for bank 1 sensor 2, the one after the cat.
The voltage you tested is the battery voltage. It shows the voltage the sensor heater circuit receives from the ECM/PCM.The ECM is OK on this point. If you measure the sensor's heater circuit - OE style usually the 2 black leads, it should show some resistance: usually above 10 below 20 omns at 68 degrees F; if it shows infinite resistance, the heater circuit in the sensor is broken.
The noise also confirms the sensor is broken. The manual says if you drop the sensor on the floor by chance, you should not use it.
Since there is no trouble code on bank 1 sensor 1, you'd better leave it alone. Let the sleeping dog lie.
In repair shops and parts stores the sensors before and after the cat are different. On some newer model cars, they might be the same sensors but the wiring lengths/plugs may be different. They are not exchangeable in repair shops.
If you get a new one at a dealer, you will very likely have no more sensor trouble codes unless in rare ocasions you have wiring or ECM problem. But it is rather expensive. At auto parts store e.g. Autozone, Advance Auto Parts, etc., you can find some similar ones at a little lower price. If your car is a Japenese make: Toyota, Honda, try to get a Denso or NGK sensor, OE style. You may save a few bucks on a universal one, but they may not work every time. You can check online first, and then go to the parts store.
Good luck!
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