HELP! 2006 Tacoma 4WD OS replacement!

Hey everyone,
I have a 2006 4WD manual transmission Tacoma and the check engine light is on. I went to autozone to run the diagnostics and I got the P0051 code which refers to Bank 2 Sensor 1. Form my research I know that is the passenger side up-stream sensor (closest to the manifold) and I have ordered the part twice, once form autozone and the another time form Amazon. The oxygen sensor part that I keep getting it the Bosch 15996 but the connector for the wiring is not compatible to the one in the truck and the sensor tip seems to be different. Im about one day away to go to a shop and spend $95 just to tell the same thing that I know, another $xxx for the part and some more $xx for 5 minutes of labor
Can someone give some guidance on which part is the one that I need to order and from who?

Thanks!