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I would also recommend checking all of your exhaust connections starting at the exhaust manifolds.
Looks like some very hard hits and there could now be a leak at any of the connections. Check for bends and re-torque all of the bolts.
A simple exhaust leak could be what is causing the O2 code. Our cars are extremely sensitive to exhaust leaks.
BTW, you are very lucky. When I had a 2013 BMW 335XI (nice car), I was active on the Bimmer forums. A member there ran over a large piece of concrete just like you did. It caused so much damage to the underneath of the car, it was enough to total out the car.
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