I suggest you read your vehicle owners/service manual and follow the O2 sensor change interval suggested there for three good reasons.
1. A slow reacting O2 sensor can cause you to fail an emissions test (especially for NOx), and it puts additional load on the catalytic converter(s) causing it(them) to wear out sooner than normal.
2. O2 sensors are usually coated with anti sieze compound so that they can be more easily removed.
Waiting too long can cause the anti sieze to loose its effectiveness. That can change a 15 minute job into a 6 hour ordeal. If you strip the hex off a stuck sensor taking it out, some cars require removal of the cylinder head, the exhaust manifold, or, the catalytic converter to get at it.
3. Properly functioning O2 sensors reduce vehicle emissions and improve your fuel mileage.
The OEM's don't suggest the O2 sensor change interval without good reason. I would't try to second guess them.
You can find some suggested change interval info here if your service manual is unavailable:
www.oxygensensors.com
I prefer Bosch sensors but to each their own.
Chumley