New Durametric tool came just in time. Got a CEL yesterday and just ran a fault test and a P219600 code came up: "O2 Sensor Signal Stuck Rich Bank 1 Sensor 1 Factory Fault Code 5120"

I can't find anything useful online. So, does this require immediate attention or can I drive on it?

Thanks

 

What year/engine?

 

2013 diesel