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Depends on what level you want to maintain the car at. If it's a daily driver you want to maintain minimally, then wait to replace them when the computer tells you they are bad. If it's a car you want to keep in best running condition, then if they have never been replaced I'd replace them. After 10 years if it's got reasonable mileage on it, then they are going to be degraded.
O2 sensors affect emissions and gas mileage and can cause drivability problems. When I got this vette it had a hesitation around 3k rpm and a bad idle once it went into closed loop. New O2 sensors fixed it.. I suspected O2 sensors because it happened only in closed loop and because I had similar idle problems on an Acura a while back that were solved by O2 sensors. Neither car's computer had decided that the O2 sensors were bad yet (actually the Acura gave an intermittent failure on one sensor but not the other.)
My 94 has 3. I think you have two.
I tried to replace the ones on the Vette myself but they were a major PITA so I ended up taking it to the dealer.
Going from sensor catalogs (assuming normal conditions, and no silica leaks from coolant), 35,000-40,000 for a non-heated and about 55,000-65,000 for a heated.