Does the car "surge" on the freeway at all? The oxygen sensors are around $100 each and require some knowledge to test them. Easy test, go to an emissions shop and run the car. Have them unplug one and see if there is a change in emissions, then unplug the other. If the car is running rich at idle then this might be the problem. Most of the time BMW says when in doubt, just replace them. You can jack the car up and check the wiring and make sure the harness hasn't dropped on the converter or come loose.