HCRX311

I got P0141 or w/e the code for the 2nd o2(said Bank2 sensor2), and searched and people said its ok to drive without it...just hurt gas, been driving about a week waiting to get paid to get one....but now my car is stalling when i take it out of gear. Say I'm going 20mph in 2nd gear, and take it out it will go down and stall.... Also the idle is lower then usual...around 500.....

Anyone else get this when their 2nd o2 sensor went out??