Code sets when sensor return voltage stays high for abnormal period of time. It could be the heater in the O2 sensor or if the car has high mileage, the catalytic converter. Check sensor return voltage running vehicle at about 2,000 RPM for 3-5 minutes. If voltage is comparable to front sensors on same side there is a catalytic convertor inefficiency because the sensors is well warmed by then. If it is much lower than the front one, the heater in the sensor is bad.
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