Clean the plug and connector pins ..then give the element a squit and blow it off w/air.

If you have an ohm meter, I can give you the temp/ohms specs.

As Poole said, that codes usually triggers when someone changes plugs or another repair that requires removal of the sensor and they forget to either remount it to the crosspipe or they don't plug the connector back in......
If you clear the code , turn key off for 50 secs and then On for 10 before starting the engine...