Lifetime warranty on these Bosch O2 sensors. You can use two front sensors, the only difference between front and rear is the length. And the front ones are the long ones. So $90 each and you get free replacements for life... I've already used the warranty once.
https://www.fcpeuro.com/products/bmw-oxygen-sensor-front-bosch-17098
Everything else seems to have issues and this was the best option for me.
https://www.fcpeuro.com/products/bmw-oxygen-sensor-front-bosch-17098
Everything else seems to have issues and this was the best option for me.