Dorman O2 sensors "cured" the CEL in my Highlander. The bigger issue was the rusted welded in threads stripped that fortunately was able to be re-tapped otherwise it's time for a bung. Tried Bosch once on the CRV with no issues but it has a bad rep on the Internet.
I've only had to do this once in my vehicular history... used Denso and the sensor cured the CEL. But the damn thread came out with the sensor and I didn't have a tap in the proper size so a local muffler shop fixed it for $50.
I've got a Bosch O2 sensor in one of my Crosstours to try and solve a CEL. Seemed to work fine for a while until the same CEL code popped up again. So your left wondering if its the Bosch sensor or a larger problem with the car. I think the latter, but with all the negative comments on the Bosch, it makes me sceptical. I'll choose OEM Denso from now on.