Hello, I'm Jason. I will do my best to answer your question quickly and accurately using the information you have provided.
Looking things up for you now
Ok, replace the right rear o2 sensor to start with.
For the misfires, if coils and plugs have not been changed in 30k miles, replace them
Now, this is very important....
ONLY use coils directly from the dealer. No Autozone, no Beck Arnley, no Advance. Dealer only, and they'll be cheaper there anyway at $22 each
Plugs: ONLY use NGK PFR6Q, or plugs from a dealer
Lastly, I wouldn't be overly concerned about the 18010 code. Clear it all when you're done, and you should be in good shape