Hi Laszlo,
although I'm not competent in electronics, I also have "some" experience on car sensors..
general approach in car industry is dont touch until you have the code stored for the related sensor.. but sometimes this approach will be too late and you will be left in the middle of nowhere..

because most ECUs are designed to raise error when the sensor is completely dead
most of those sensors are sensitive devices and in time (and by heat) and with use they loose some of their accuracy.. and you can find that by directly comparing with a healthy one which I did (expensive method)
of course you can buy an expensive tech 2 and check those sensors directly or some kind of cheapo tester and use for the same purpose..
measuring their impedance, voltage etc is another method but in that case you have to know exactly how a healthy one behaves.. and besides there may be many factors effecting your sensors accuracy , like your cars cabling condition, chasis, alternator and battery and also some other factors which is hard to guess .. but you have to go between pins and cables and take measurement from there which is sometimes messy..
so its upto you to what approach you will choose..
here are some test links from youtube
http://www.youtube.com/watch?v=6ws8EVQ6NjE http://www.youtube.com/watch?v=IzZNlPosGSY http://www.youtube.com/watch?v=SLgdaWCuKVo http://www.youtube.com/watch?v=NdGPuerxuvU ps: I must note that, those sensors are not designed for cars life time.. for example lambda sensors avg lifetime is said to be 100K kms under normal conditions.. crank and cam sensors hard to tell .. knock sensors rarely go.. maf , definitely unpredictable lifetime..
throttle position: I changed and it improved.. so my opinion is sensors must be also accepted as wear and tear items..