I do not know if driver or passenger side is bank 2
P0151 02 sensor circuit low voltage Bank 2 Sensor 1
To find the Bank find cylinder number 1, the cylinder that is closest to the front whether you use the sparkplugs or fuel injector which ever is the closes to the front, is cylinder 1. Knowing where cylinder is located , the other side is Bank 2. Sensor 1 are sensor before the catalytic or 02 upstream sensor.
Here the GMC 8.1 firing order, cylinder 1 is at the driver side.
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