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I owned my 03 TL since new. its a decade old now and is giving me its best consumption ever on original sensors. all my cars (usually imports) power and efficiency improve with time. I had an acura rdx which started putting more power to the wheels year by year until it hit 60k miles. it never lost power or MPG though. I could still get 25mpg on highway with its 2 ton curb weight and nearly 200 horses at the 4 wheels just by using cruise control at 70mph. this was after 60k miles of mostly stop and go driving.
if youe o2 sensors had problems you would get a code and CEL...ECM monitors both o2 sensors (downstream and upstream) readings and if they are the same or similar it will throw p0420 code. then you can change your o2 or cat depending.
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