There are 3 sensors not just the one you can see. The 2nd one is not easy to get to being on the other half of the V near the bulkhead.
The first two sensors are also Denso air/fuel ratio sensors rather than just normal oxygen sensors so don't just buy a generic sensor, it won't work. Also if you purchase a generic sensor you will probably have to splice the wiring into the old connector.
The error code produced will tell you which sensor needs replacing and also what is wrong, e.g. heater faulty, no output, etc.
You can clean them but it normally doesn't make too much difference. To clean them you need to burn off any deposits gently using a blow torch.
For normal sensors they are easy to test by making the mixture lean/rich and monitoring the sensor output on an oscilloscope or some ODB-II readers.