Need help with 02 sensor & cv-axle boot problem

I have a 02, Tacoma 4x4,v-6, 5-spd, trd. The check engine light came on several months ago and I scanned it and it said bank one sensor malfunction. Well I cleared the code and for a while it didn't come back on, it did last week scanned it bank one sensor two. I got under the truck to see how everything is, the 02 sensor wire's come inside the truck and it plugs in under the passenger seat, first time I've seen something like that. I'm driving down the road and the light goes off on it's own. Should I go ahead and replace the 02 sensor or wait and see if the light comes back on?

My next question is a big one, while under the truck I see the bottom of the front arm has grease on it, after further inspection the inner cv-axle boot is cut/ripped/something all the way around. I haven't taken the truck off road and don't plan to anytime soon. So my question is can I move the boot as much as possible and clean the inside (what would you use to clean inside the boot) and pack the cv-boots that are broke and I can get some from a buddy I would have to cut them down the middle and put them over the existing boot and put hose clamps on them for the time being? I am diabetic and I can get around and do as much as I used to do. I plan on buying CV-Boot Kit Moog, front inner, Neoprene with grease, and new clamps and replacing them, right now just isn't a good time, I have a lot going on. Also what do you all think about Beck/Arnely? Is there a better type cv-axle boot to buy that is stronger, etc.? I don't really plan on taking this truck "mud ridding" and just sinking it or nothing. I will probably ride some back roads/trails. Has anyone had to replace those cv-axle boots? If so how bad was it?
I wont take up anymore of your time. Some of this newer stuff can get ya, being sick doesn't help at all. Taking one tire off and you hurt all over from just jacking the truck up and getting some tools out. It sucks.
Thanks for any and all help.
Joe
Here are some pictures of the axles

 

You are correct about the front O2 sensor wiring. It's not a bad idea to go ahead and replace that sensor as well as the rear O2 sensor as well.
Yes, the cv axle boots can be replaced as well. If you get no clicking or popping noises while turning, the cv joint itself is likely fine and new grease and boot should work. If you have any doubt about the integrity of the joint just replace the axle itself.

 

I'm going to have to get someone to help me with the rear 02 sensor, The front is new, the rear is the one that has had the check engine light come on but it has came on before and went off on it's own and it came on again I had it scanned and it is bank 1 sensor 2 and I bought a denso sensor, tried to install the new one but I can't get the nuts off.
The cv-axle boot's are what is making me nervous now. If the truck is push button on the shifter for 4-wd high and you have to stop, put it in neutral, etc. for 4-low, If I'm in 2-wd are the front cv-axle's moving? With the truck off and in neutral with the e-brake on I can spin the front drive shaft free-lee but I haven't been able to see if they are moving while the trucks in gear driving. I'm pretty sure the cv-axle's are good, Just taking the whole front-end apart to change the boot is what I am worried about. I have never changed one on a 4wd Toyota, I have a "Haynes" manual but it's for Tacoma, 4-runner & T-100, Tacoma (1995-2000) and it's a 2002. Is the book good enough for information on a 2002 or do I need to get the 200_-200_ book? Has anyone ever changed the cv-axle boot's on a Tacoma around 2002 before? If so how hard is it to do and does anyone have any tips or help with doing it?
Thanks,
Joe

 

Replacing the boot instead of a new aftermarket axle is a lil more work, but you keep the high quality cv joints from Toyota that way. It's not too hard or complicated with a lil guidance:
https://www.tacomaworld.com/threads/cv-axle-reboot-w-extended-boot-mod-and-replacement.460520/