Thank you in advance to for any help.....

MIL came on took it to local shop they said O2 needs to be replaced ..... the last time i had to replace a sensor I did it three times in a row only to find that it was never the sensor it was the damn Bosch ABS had to be rebuilt. so anyway i connected VCDS LIte and here's what i got :

16514 - Oxygen (Lambda) Sensor B1 S1: Malfunction in Circuit
P0130 - 008 - Implausible Signal

from this information should I go ahead and change the sensor or should I be looking elsewhere?

additional info :
Control Module Part Number: 8E0 909 559 R
Component and/or Version: 3.0L V6/5V G 0010

2003 A4 Quattro 3.0L
Odometer: 148,936 Miles