Back from Chik-Fil-A yum. Anyway I recommended the possibility of the short due to both sensors showing low, if just one shows low it is possibly an exhaust leak. Still possible there's a leak but less likely since both sides are reporting low voltage. Another reason is that exhaust leaks tend to close up as the engine warms up but you say the codes do not appear till fully warmed up and running awhile. An intake leak normally tricks the ECM into richening the mixture so I don't think that's the issue.
Not saying it's not an exhaust leak but I would look for a short first, in the wiring or in another sensor that shares the circuit. See attached video on locating shorted 02 sensor wires. Also Scanner Danner You Tubes are a great resource so check him out, I've learned a ton from him.