I have a 96 A4 2.8 quattro. My o2 sensor are going/are bad. my car dose not have a steady idle it waivers fron 100 to 1200 rpm without rhym or reason.

my fault codes for the sensors are:
p0134, p0154;(sensor CKT inactive) P0130, P0150,(sensor fault) p1101, p1106,(sensor voltage to low)
all of these codes are for o2 senser 1 on bank 1 and two.
My other fault codes are
p0401(egr flow insufficent)
p0174(system to lean bank 2)
p0171(system to lean bank 1)
so i think i have to replace my o2 sensers i want to know where the sensers are.
Are the banks left and right (bank 1 = left and bank2 = right)
and sensers 1 prior to the cat and sensers 2 after the cat?
will replacing these clear up the erg and system to lean error codes?
and will this also fix my idle rpm?
any help would be great
thanks

 

bank 2 on my 30v is the driver's side. i found that sensor when i took of the coolant reservoir. not sure bout bank 1 though, i think it should be in a similar place as bank 2.