Any advice on using universal oxygen sensors vs Bosch or the really expensive OE's?

Also, can I remove the sensor first and still drive the car? When it acted up before, I had to drive home in "limp home mode" I guess they call it.

Being able to see my existing one up close may help me decide which replacement model to buy.

Thanks,

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1999 C230 Kompressor
1998 C280 Son's car
1999 C280 Totaled by other Son