Well, looks like you have the temperature situation resolved, that is a good position for the gauge and good fluctuation.
If you search for that EGR code you will find a complete diagnostic for it from either Rangerj, or ProjectSHO89.
I would change the o2 sensors with the bosch ones from Autozone, looks like they are done for. That is unless you have a large vacuum leak in your intake manifold. Either way, with unknown mileage on them, I would replace them, they make a dramatic difference in how the motor runs.
The 556 code, means the car stalled. That is it.
The 538 - you didn't punch the gas when you should have when you checked the codes.
From your story about starting it, I would consider replacing the CID sensor, its failure can result in symptoms you are describing.
Is the condensation out of the tail pipes more than it usually produces (ie: normal cold morning condensation, or a thick cloud of steam?) I would entertain checking the coolant for carbon, or performing a 'leakdown' or compression check to verify the HG's are in good shape.
Doug