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just a casual glance at the price of the sensors, I would make the assumption it is an air/fuel sensor (aka wideband) that puts out a steady voltage.
Regular or typical oxygen sensors used in most vehicles do switch from about 0.4 to 0.9 volts.
subaru used A/F sensors in the 01 RS
your low voltage on the rear sensor may be an exhaust leak or a failed heater in the sensor. A functioning cat will be hotter at the outlet if you have a pyrometer.
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