toyota avensis vsc light+ check engine light?

hi,i have a toyota avensis 2002. i had a problem that started with "check engine" light came on-after scanning with scanner it showed error code p1035, which means bank 1 sensor 1. i replaced it with universal denso sensor then went again to reset the car computer-later it came back on and showed 2 new errors p0141 and p0161 which means the 2 sensors after the cat converter b1s2 and b2s2. my question is-does the universal denso sensor fits all 4 of the sensors? i mean b1s1 b1s2 b2s1 b2s2 are all same sensor? at the shop he said its same one-but other shop asked me which one i need? left? right? front? back?. as for now i replaced only 1 sensor and need 2 more to go. last question-today i came to drive and new lights came on: vsc on the right corner and another one next to it. before i go again for scan-any conection between the fault sensors? or its a new problem that i deal with? thank u for all helpers