2018 Toyota Camry cylinder 1 imbalance. A25A-FKS engine

I have a high mileage 2018 Toyota Camry with 140K miles and the engine started running rough at low speeds/idling. Car also hesitates to start at times. The car disabled the parking sensors, a ICS malfunction and check engine light came up. Fault code P219C came up. The car has consistently had its o2 sensors replaced throughout its lifetime even at low mileage. And I’m not sure if it’s just the o2 sensor that’s bad or if it’s more of a complex issue. When I clear the code the cars safety system and cruise control will go back to working and the car will temporarily idle normally until the timing goes back to becoming unstable.