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Code 158 is for high voltage in the O2 sensor circuit for bank two sensor two. This is the sensor after the cat converter.
Code 58 is for the same problem with the heater circuit in the same sensor. My guess would be the sensor has shorted out internally, or you have a wiring problem between the sensor and the engine computer. The circuits would need to be tested.
This vehicle is equiped with 2 O2 sensors 1 is before the Cat converter and 1 after the Cat converter this code is for the 1 after the Cat converter or the most rear sensor not the first 1 change the farthest one from the engine and your problem should be solved.
If you do not know what the codes are, it is O2 sensor. This means the computer is not reading the right information from the faulty sensor. (there is a set range the sensor is meant to show, if one goes over or under the computer shows check engine). The diagnostic is not too bad, give the car a tune up, plugs, wires etc. and replace the O2 sensor. This normally clears up any problems. Let me know if you need further clarification or help.
P0161 02 Sensor Heater Circuit Malfunction (Bank 2 Sensor 2) check the wiring to the bank 2 sensor, that is the one behind the catalytic converter on the opposite side from the bank where #1 cylinder is located, see firing order diagram below.
I had a similar problem with 99 Durango.
Replaced PCM with refurbished "brain" from online Florida company and no problems since. You may want to google for refurbished PCM and call the guys who sell them -- they were helpful to me and my fix was 3 screws and < $300.00.
Check the wire harness near the top of the engine in the rear. They were good for rubbing through on the trans fill tube bracket. Judging by the code you have 4 sensors. you would be interested in the drivers side rear sensor.