OK, found my shop manual.
DTC PO031 - FRONT OXYGEN (NF) SENSOR HEATER CIRCUIT LOW INPUT
Following Darrin's questions about the front 02 sensor, I thing you might be looking at the rear one. There is no way I could fit an anti-fouler plug between the exhaust manifold and the sensor and clear the frame. There is just not enough room.
If you didn't have to take the front right wheel off, then you were def looking at the rear one. Sorry if I mislead you with my previous post and my rear 02 sensor.
If you do take out the front O2 sensor, here are the diagnostic steps from the manual. excessive, but complete...
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Patience is the ability to idle your motor when you feel like stripping your gears