Are any other dummy lights on? Like the brakes or something? Sometimes low voltage sets other systems into faux failure. Check the voltage level first.
Not 100% sure, but I think you need a new oxygen sensor. If the code remains you have a bad ground, wire or computer. Not trying to be a downer, just the facts. I would try to determine the problem in that order.
It may also be stumbing because the transmissions input/output sensors may be all gummed up. I would get a FSM and see what it says the code means. When that happened on my LHS it needed a new transmission control module (it also was stuck in 2nd gear, you had no mention of that).
If you plan on fixing this yourself I would start with checking voltage, then replacing the respective 02 that is giving the code. See if helps the hesitation.