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bank 1 = first 3 or 4 clyinders in firing order like 1234 or 123
sensor 2 = after the cat on the same 1234 or 123
how many miles ? if around 80k or more then i would clear the codes with a scanner as battery drop wont do it . and change the sensor . the heater part of the cirkit is getting worn out.
and hyundia best go to dealer for it. as i have had lots of problems getting the correct plug end or wire length in aftermarket.
and check if its cali or federal emmisions on the tag under the hood. and take the vin # with ya if you go to the dealer thay will ask for it.