Hello and welcome to JustAnswer!
There is a service bulletin for the P2000 codes setting. There are a couple of things that will need to be done.
I would highly recommend having a dealer make sure the ECM software is up to date. There are constant software improvements on these trucks.
Both oxygen sensors will need to be replaced. They have been redesigned with a different tip to stop soot accumulation inside them.
After the sensors are replaced there is a heat blanket that needs to be installed on the exhaust around the upstream oxygen sensor is.
These repairs would all be covered under the 100,000 mile 6.7 Cummins aftertreatment system warranty at your dealer.
is it ok to drive with this problem until I get in to get serviced? It may be a week..