With 134,000 miles you can expect things like oxygen sensors to need replacement. But before you go off to buy a new one, check the connector to that sensor, and the wiring that leads to it. Needless to say, if you find damage, like a wire that's been rubbed down to its last strand, fix that first! A shot of contact cleaner and a little scrubbing with an old toothbrush will ensure that the connector is making good (or at least better) contact when you put it back.
If this cleaning and/or repair brings your sensor voltage back to normal, then you're done. If it improves the voltage, but not enough, I would order a new connector, and replace it; and if necessary, replace any wiring upstream of the connector that looks like it's in bad shape. If that brings back normal voltages, you're done.
If your connector/wiring is in good shape, or your repairs don't solve the problem, then before you order the new sensor, get some penetrating oil on the threads of the old one. Do it again and again. It's better to over do it with the penetrating oil than it is to have to weld in a new bung.