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2nd Gen Ram Tech1994-2001 Rams: This section is for TECHNICAL discussions only, that involve the 1994 through 2001 Rams. For any non-tech discussions, please direct your attention to the "General discussion/NON-tech" sub sections.
You either have a lose connection or a bad 02 sensor. If your 02 sensors are original and have over 70 thousand miles on them, then there all bad and need to be replaced.
Yup, new O2 sensor. It's not a huge deal to get it replaced immediately as it won't severely effect the truck, but it'd be something to do sooner than later.