For anyone who might find this helpful. This was my experience on the fix (Updated)
I have a '98 Avalon and got the same P0135 code when checked at Advance Auto Parts yesterday. I purchased the Bosch "universal" O2 Sensor for $ 64 as opposed to the $147 "wired to OEM" special. I agree with Mike that the wiring connection isn't too tough so save some $ and buy the universal unit. However, the rub I had was knowing which sensor is Bank 1, Sensor 1. Going to my Haynes book shows O2 Sensor with Bank 1, Sensor 1 being the front sensor easily seen when you open the hood and look down on the exhaust manifold. But here is the kicker, the Avalon has two sensors, Bank 2 sensor 1 is the other with the heater circuit jumper together. Bank 2 sensor 1 is between the engine and firewall, you can see better on driver's side when looking for it. Going to the electrical wiring diagrams in the back of Haynes shows that if either sensor heater circuit faults I believe you will get the infamous P0135 code "Bank 1 Sensor 1 heater circuit". Love those electrical diagrams. So disconnect the sensors at the connector and pull out your volt meter. Check the heater circuit on each sensor before you replace the wrong one. Check the terminals where the 2 black wires connect, no polarity on the heater circuit, for resistance (ohms) should be 11 to 16 ohms when engine is cold. For instance, I got 13.2 on the front one and the back showed OPEN. Replaced the back one and then went back to Advance for a PCM reset to clear the "Check Engine" light.