Emission standards changed a lot in the US in 96. O2 sensors are a big component in the emissions system.
I show different part numbers for a 95 MPV and a 97 MPV. No you can not use a 95 O2 sensor in your 97.
Reset you engine light and see if the code comes back. Sometimes O2 sensors set check lights and aren't bad yet. If the light comes back then you'll have to replace one or more of them.
I am not sure if you need the upstream or down stream. There is also a heated upstream option.
Bosch upstream #15733 ~$75
Bosch downstream - Same as above
Bosch heated upstream #13962 - ~$240
Any local auto parts store should have these.