You have 2 O2s and it's highly unlikely that one or more is causing hesitation. It'll be cheaper to pay diagnostic labor than it will to guess at costly O2 sensors which probably won't solve your problem but check for obvious vacuum hose leaks first, before doing anything. Unless it's a code for something like a loose gas cap, it won't reset by itself so it'll still need to be read and reset by a scan tool anyway if you want the light out.