Yes. The best way to clean it is to get the engine running properly and then run it slightly lean. Run the poop out of it. Then either test it again or hook it up and verify closed loop control probably after some driving and resetting of mixture.
You eventually must understand closed loop control to understand the system and the various ways to adjust it electronically. Closed loop refers to the fact that the mixture is kept to a precise range by feedback control. The system is made to go rich when it senses lean; it doesn't go far till it has effected it enough that it is now sensed rich and the control heads lean. This back and forth control keeps the average mixture to a very tight band at the exact relative amounts of fuel and air for complete combustion.
If you can get the closed loop to react doing a couple of cycles a second at 2000rpms you have cleaned the sensor.
Bosch Master, ASE Master, L1
33 years MB technician