Welcome! I'm Ron Z! I will do my best to answer all of your questions. For easy access to this thread, bookmark it now! Please read everything!

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The P0038 is a fairly straight forward code pointing to a fault with the internal heater for the oxygen sensor for Bank1 Sensor2. The on-board computer uses this internal heater to get the sensor to normal operating temps within a matter of seconds on cold starts. Inspect the electrical connector and wire harness for any loose, broken or rubbed through wires. If the visual inspection checks ok, replacing the sensor will solve the problem. The oxygen sensor is located under the vehicle, mounted to the exhaust. Whichever setup in the images below looks like yours, or there is a sticker under the hood at the front of the vehicle that will state Fed or Cali emissions, will be the sensor location to replace.