Ugh! I keep wanting to clean the smudge off the lens when looking at these!
Some clarification required just so I'm sure I'm reading them correctly... The first photo (5 mins of idle time) seems to indicate a problem (with Bank 2) if it's AFTER 5 minutes of idle time but I'm confused. I assume the bottom (x-axis) is seconds. The graph starts at 1240, which almost 21 minutes. However, it ends at 1420, which is 180 seconds (3 minutes) after the start. So, was it a graph after 5 minutes of idling time (plus 15 mins of setting the tool up) or was this misstated and it's actually 3 minutes of idle time right from the starting of the car? If this is time zero (cold start) through 3 minutes, then this graph can be ignored entirely, because the sensors need to heat up before they can be read
For the next 2 pics (stop and go travels) This is where the RPM graph would be helpful to be sure, but it seems to indicate an issue. In theory, both banks should be doing approximately the same thing at the same time. It's not a perfect match, but, both graphs should move roughly the same direction to roughly the same voltage at roughly the same time when RPMs change up or down. The sensors look like they're going opposite directions sometimes, but it seems like B2 is spending a lot more time low and is less responsive, which makes me thing that sensor itself is "lazy". However, there is a big caveat here. It looks like this as immediately after the previous pic, based on the time graph. If so, it's possible, if the van still wasn't warmed up, that the sensors are still reading erroneously. The fact that they drop down seemingly to 0V (supposed to stay between 0.1 and 0.9), says that maybe this is the case.
The idle after a nice drive starts to show some indication that maybe bank 1 is less efficient (either combustion or catalyst) than it should be. It's bouncing around above the half way point (0.5V). Then, in the highway drive, the graph once again seems to show B2 moving differently than B1, but both sensors once again drop down to 0V and both are swinging wildly, which I wouldn't expect at typical highway driving (consistent speed/RPM).
With all this, I can say that, to me, it looks like you might have multiple issues. If you didn't use genuine Denso (or Toyota) branded post-cat O2 sensors in your parts cannon, I would suspect definitely the B2S2 sensor (seems lazy; drops to 0V sometimes) but B1S2 might also have an issue (it also dropped to 0V sometimes) depending on which bank was "right" based on RPMs/speed. I would also suspect that maybe you have a combustion issue (or your cats are inefficient; less likely because you said they were new) and the ECU is compensating almost enough but not quite, which causes the codes.