My check engine light came on a I pulled a P0158 code. It says the bank 2, sensor 2 voltage is too high.

So, is the sensor bad? Where is that sensor located?

 

Ok, let me revise my question. Does anyone know which side bank 1 and which side bank 2 is?

 

Bank one is the rear side of the engine, Bank 2 is the front side. you are looking for the O2 sensor After the CAT converter on the rear.
Btw, do NOT use aftermarket or Bosch O2 sensor, you WILL end up with the same problem. Only use OEM sensor from dealer.

If you want to make damn sure the problem is a bad O2 sensor, Swap the downstream sensor from Bank 1 to Bank 2, erase the code, and see if the code follows.