You can always pull the 02 connector off, Ignore the code and see what happens. No change, plug it back in, ignore the code. Enough rides, it learns and turns off after awhile, or it takes so many key turns to clear the code.
I unplugged the sensor, rode around, plugged it back in, code did not turn off. I knew the 02 was not damaged, out of range, a wire out of a connector and all that trouble tree mess. It finally turned off. Worth a WATT in my book.