Bad 02 Sensors..No Check Engine Light??

I'm pretty sure it can be bad since I've run my car momentarily with open headers and O2 sensors not even hooked up and it didn't throw a CEL at me. But like you said, it couldn't hurt to replace them if they have quite a few miles on them anyway.
 
but one has to run the car long enough for them to light off. as they age, they stop switching as quickly and lose their switching range. they can be pretty jacked and still not trigger a light.