Are you maybe hunting for a problem that doesn't exist? Is there anything wrong at all with those sensors other than the 160k mileage?

BTW, shortly after getting my 2001 3.0i at around 168k miles a few years ago, I replaced the O2 sensors with no problems at all, just dreaming for better MPG. No change except a slight lightening of my wallet. Same with spark plugs, BTW - I think they were the originals I pulled out of there. Still looking and working great at 169k miles.

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2001 X5 3.0i, 203k miles, AT, owned since 2014