2.3L ('02-'11) P0171 Code - Engine was hesitating at idle but cleared up after hwy run

[Garth Libre]

I had a stumble at idle on my 2010 Ford Ranger 4 cylinder with over 100,000 miles. It went on for about 5 minutes. I got a P0171 Code at the Auto Parts Store (system too lean), but the stumble went away after a highway drive (The engine light is still on indicating the same code).
Do I : 1) Clean the upstream O2 sensor 2) Replace the upstream O2 sensor 3) Replace the downstream O2 sensor on the exhaust pipe under the car 3) Replace both sensors 4) Do nothing since the problem (but not the light) went away??????

 

[Jazzer]

I’d disconnect the battery for 30 minutes and see if the light came back on first.

 

[Garth Libre]

I’d disconnect the battery for 30 minutes and see if the light came back on first.

I drove it a while and the hesitation went away, but I will take your advice as I have heard pros say the same thing. Modern cars are weird. I relate better to old stuff with carbs and mechanical pumps, but they don't run as well much of the time.