The O2 codes can also mean that the EEC is having a problem properly metering fuel. It could be something as simple as a vacuum leak.
Since only one sensor is showing the lean code, however, it is likely that the O2 is at the end of its lifetime. The sensors should be replaced every 60,000 miles to make sure that they are properly sensing the oxygen content in the exhaust. This will ensure the most power and economy. The latter item being very important in these days of $3.00 gas.
How old are the sensors? If over 60,000 miles, I recommend that you replace both of them. The locations on the 3.0L are quite simple to access, even with only a Crescent wrench, but the rear bank sensor on the 3.2L needs an O2 sensor socket, U-joint and at least 6" of extensions. It's not nearly as trivial.
3.0L: Bosch 13942, AutoZone/AZ.com $39.99 (approx.)
3.2L: Bosch 15716, AutoZone/AZ.com $42.99 (approx.)