Bad o2 make the car earthquake shake?

[Subix]

So after riding around for an hour or so.... the SVX sits parked for about 35 minutes while I go into the store. I come out, start it up and the entire car is shaking really really bad. chug chug chug chug chug....

Great... so finally the light comes up and the code gives me 32 - oxygen sensor... yet it seems like a spark plug is misfiring?

Should I just go ahead and replace the o2 sensors and then take it from there? Also, after driving it home (9 miles) I pulled the codes again then it gave me 32 and 56. Would the o2 sensor and driving on a bad one result in the code 56 maybe?

I don't see anything wrong with the exhaust or anything else so I dunno? Thanks for any input.... I've had the new radiator installed for a day, happy to be driving it again and then this pops up.... meh.