I know this is a weird question, but how does the exhaust sound? Does it sounds throaty and unrestricted? After driving it for so long, is it possible you could have become used to the dull sound?
Sometimes after a lot of mileage, your catalytic converter actually breaks apart and clogs airflow. The "honey-comb" filter becomes brittle and the tunnels break up. Maybe you need a new cat along with some new oxygen sensors? Maybe try knocking your cat with something and listen if sounds solid.
This happened to me on my older 97 Tacoma. After a new cat, it was all good.
Or maybe you need new injectors? Hope this helps.
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