Sr160 overheating? Idle issues. Bogging down in high revs.

From cold my 2005 160sr runs completely fine, after approx 2 hours on the road, the idle goes down to 700-800 rpm, if I keep driving the car will eventually cut out and won't restart until it has cooled down.
Also when warm it is bogging down at high revs, won't go past 5000rpm in 3rd.
O2 sensors, spark plugs and ignition coils replaced and a new intake tube on it's way.
Looking at replacing the lamda sensor, does anyone know where it's located?
Cheers!
 
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