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It'll take about half a dozen drive cycles to clear a stored code, and a really short drives won't really do much since the car barely gets fully up to temp.
If you're really worried, clear the code and see if it comes back again. If it were dangerously lean at part throttle, you'd be in limp mode.
Just an FYI, lean/rich is read by the primary (front) O2 sensor, the secondary (rear) O2 is only to let the ECU know if the cat is working.
I would go for a good 20 minute drive (including a bit on the highway) while logging commanded AFR, actual AFR, throttle, rpm, long term fuel trim and short term fuel trim.
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