Regarding to lambda sensors think of as 2 parts- the sensor itself and the heater for it. The fault codes are for the heater part. Lambda sensors need to heat up before starting to work, they do it from exhaust gasses but pretty much any half modern lambda sensor also has electrical heating element within which helps it warm up faster. If the heating part is not working it only takes longer on cold starts before the sensor starts working say 2 minutes instead of 20 seconds. I would not loose sleep about it.
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Currently 8less
2011 Q7 S Line 3.0TDI, 2016 Tesla Model S 90D
8 history:
2006 A8 Sport 4.2TDI quattro SOLD,
1997 S8, reached end of life with gearbox failure
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