1996 Chevy Silverado Warning lights on dash

First thing you need to do is have the codes read, Autozone does it free, Post the results with the code number(s). Even if the service engine light is not on, there should be freeze frame data stored.
In your case you may have to go to a more specialized shop, one that can read the air bag trouble codes..the codes once read will tell you which 02 sensor is bad, in the form of bank 1 sensor 1 or 2 1 is closest to the motor, 2 is after the cat...