Yes, I have done this. Just make sure you plug them into the correct bank. The rear O2 sensor wire will be too long by about 6-8 inches, so I coiled it up and clipped it to the stock plastic clips on the fuel rail to keep it neat.
Not sure about your codes, though, no time to look them up.
E92 335i/6MT Dinan Stage 3: intercooler, oil cooler, intake, flash, exhaust, LW dual-mass flywheel.
Vishnu PWM methanol custom trunk mount, Diffsonline 3-clutch Salisbury custom diff, Ohlins Road and Track coilovers, Vorshlag camber plates, much more...
E28 M5 w/ buncha stuff, R171 SLK350