2002 BMW X5 02 sensors

SorryThx for the responce I lost the link to this web site. PVC plate has not been changed but let me add this scince I asked this question I have bought a new senor and replaced the old one so now both banks 1 and 2 2nd sensors have been replaced along with a new maf. But no change still vibrates at idle in gear while stopped. I also remembered that I did drive the car with the bad o2 sensor for at least 6-8 months could that have caused the catalytic converter to go bad or anything else or maybe have other bad o2 sensors and the car is not throwing check engine light or a vacume leak and maybe even bad coils? Any info would be much much appreciated thx.

Forgot to add two things. The car is getting terible gas milage and the it feels like it has lost power, but other than the vibration the car runs great. To avoid feeling the vibration I just turn on the air condioning and idle goes up slightly and vibration is gone. Thx again!