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First, here's my internet waiver. I am by no means an expert, but I have done a little tuning on my own. Here are my thoughts.

"my understanding is that the voltage readings should be somewhere around 0.3v-0.7v"
This is mostly true. But understand that the voltage reacts to current conditions. If the engine is targeting the stoich value for gas (14.7air to 1gas) then ideally you should see about .500mv, if it is actually achieving stoich (14.7). But engines aren't perfect so some variation is allowed and an averaging method is used, ie. STFT(Short Term Fuel Trim) and LTFT(Long Term Fuel Trim).

Actually, your O2 values look very odd to me. They show a lean condition but the trims are pulling fuel (-2 and -4) as if there was a rich condition.

Some questions come to mind.

How is the truck running?
What have you done to it?
Recently?
Are you sure the precat sensors are wideband?
Has it been tuned by someone?

You may want to seek the advice of a professional. :)
 

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Cleaning everything may very well do the trick.

To isolate a "bad" sensor you could also swap the front sensors and see if the code moves to the other bank.

I don't suppose your scanner can save the entire drive log?
 
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