Cheap code reader, torque app, I prefer the premium version, and a bluetooth obdII adapter around $15 on ebay.
Torque has several additional plug-ins also.
$588 for a O2 sensor, hahaha stealership for sure.
Rockauto.com
Downstream bosch O2 sensor $62 apiece
Upstream bosch O2 sensor $85 apiece.
With this platform I would stick with bosch products as much as possible.
They can be easy to change, but if you do not want to do it, you can buy the sensors and take it to a trusted shop and they will put in your sensors, for a much more reasonable price then a stealership.