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Bank 1 sensor 1 means the first oxygen sensor closest to the motor. The location is probably in the exhaust manifold, if not then follow the pipe from there and it's the first one you find. Hope this helps
It's an oxygen sensor issue. Most cars these days have 2 oxygen sensors. 1 "upstream" of converter and 1 downstream. They compare exhaust before and after the converter. When their measurements equal each other, means converter is not functioning (exhaust is same in & out) and not always triggering dash lights. Either you have a bad sensor or your converter is and, is why you didn't pass inspection.
First off, when was last healthy tune up? Plugs, plug wires, ALL filters and a good fuel system cleaning? I'd start there, then have parts store like Autozone, Advance etc.. do an OBII fault scan. I'm suspecting of tune up doesn't help maybe an oxygen sensor or a MAF (Mass Air Flow meter) are strong possibilities. But tune it first, and get scan done before just throwing parts at it.
The heater sensor I think you are talking about it is the upstream oxygen sensor. Sometimes the code reader just says heater sensor upstream and doesn't tell you its actually the heated oxygen sensor.
You must be looking at a different sensor as the oxygen sensor is mounted in the exhaust system and wouldn't be exposed to the oil in the engine. The oil pressure sensor is likely what you see, it is not uncommon at all for these to fail internally and leak oil to the outside of the engine. Sometimes you need a special socket to change them. Both the sensor and the socket should be available at any auto parts store.
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