I do a quick cost efficiency study. A typical trip to the dealer costs about 20% of my yearly gas bill. They actually fix what was wrong, less than fifty percent of the time. I keep track of my gas mileage and program a trip to the emission tester, every two years (around here).
Just a WAG, (wild arsed guess), but many of the sensors are daisy chained. The TPS can cause the MAP to go out of the envelope (slightly), that can generate a enough of a rich/lean burn condition to cause a conflict between the front and rear O2 sensors. It could also be a flaky cat. they are designed to last for 7 years, typically start to fail around 130,000 miles.
Another part of your cost efficiency study has to figure in, what your time is worth. My pay has never approached what a dealer charges per hour. Checking wiring and connectors is time consuming.
The price of a fuel control sensor package (Engine temp sensor, MAP, TPS, O2 X2) just about equals the cost of a trip to the dealer (if he doesn't fix anything). If they actually fix something and they are right 50% of the time, a typical bill may equal closer to 40% of my yearly gas bill. My percentages actually work with most any gas bill or yearly mileage. The costs rise significantly after 130,000 miles of vehicle use. Off road use can easily double the numbers.
I'm not saying an in depth scanning is useless, just saying it gives you more symptoms for a condition, that may help in a diagnosis or may not. Many of the questionable sensor values can be traced to resistance in the wiring or a mechanical problem in your motor or related sub components.
I always check the motor basics and the wiring before going anywhere near the dealer.
The boards can help by using somebody else's solutions. Problems tend to repeat themselves.