There is no 40k 50k 60k etc for servicing sensors , I serviced (cleaned) mine on 40k because I saw some variations in logs, there were no error codes in the ecu. Cleaning the sensors was easy, I read where they were (on service manual
) took a day off from work (it was a 1 to 2 hour job but I like relaxing in the garage doing things easy) disconnected the negative cable from the battery, Removed the sensors,and clean them with a soft brush dipped in ethenol. I sprayed some wd-40 around the 02 sensors and let it penetrate around the thread to loosen rust generated by the high temp in the manifold/exaust. They had some thin carbon deposits on them which by time it affects acurate reading, but now they are like new. Note that when cleaning the o2 you never actually clean the sensor but the shield protecting it. When screwing them back in make sure you torque them correctly, (remember that since you disconnected the negative terminal you have reset the ecu) so when i start the car i like to idle for 30seconds then press the brake pedal for another 30 seconds and idle for another 30 seconds switching ac on to let ecu balance the idle rpm correctly around 730 rpm when engine is in optimal operating temp
I have also cleaned the electrical plugs where the sensors plug into (they were a bit corroded) and the fuse/relay box
Note: what i wrote above works perfectly for me after reading various trusted articles on my car but does not mean i am doing it correctly, so what every one does is doing it on his own risk. and sorry for my english 