Question edited for clarity, full year MAKER, model.
Question moved to model category.
'Exhaust coming in the car' has no bearing on this. If you have exhaust coming in, you have a hole in the floor or somewhere else!
https://www.google.com/search?q=2016+Toyota+Camry+SE.+P0136
https://www.google.com/search?q=2016+Toyota+Camry+SE.+P0137
These codes are for Sensor 2 on both banks, not an upper and lower. Make sure you use the genuine Denso sensors. Don't go cheap on sensors.
P0137 stands for "Oxygen Sensor Circuit Low Voltage (Bank 1, Sensor 2).
P0136 definition: H02S2 Heater Control Circuit Low (Bank 2, Sensor 2)
This one P0136 suggest a bad wiring connection, not necessarily a bad sensor. It is the heater circuit. Replacing will normally solve.
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