If you go to rockauto.com and read the descriptions carefully on the denso sensors you can find the right one no problem. They are pretty easy to replace especially if you have an o2 sensor socket, but that isn't necessary. That code seems to indicate a faulty sensor, but since it is downstream and not used for fuel trims like Frank said, there is no absolute rush to replace it, other than to get the MIL to go away.
My Jeep: 2001 Grand Cherokee Limited, 245/65R17 Falken Rocky Mountain ATS, K&N drop in air filter, Bilstein HD's. De-badged, eagle-eye LED Tails & LED 3rd brake light, Addco front and rear sway bars, Superchips tuned & TM snip, interior 6k LED's, Gen3 ccfl projectors with Volt 6k HID lows, akebono brake upgrade with R1 Concepts premium rotors.