Maybe try working through this list. Hope it helps
Yes check O2 sensors first.
New Air Cleaner Element (filter).
Replace the plugs if not already done.
Check tyre pressures are not too low - between 36-40 pounds.
Clean the throttle body & make sure the MAF is clear of rubbish & is clean.
Add some injector cleaner in with the next tank of fuel to clean the injectors.
Check how easy the wheels rotate. If they are hard to spin when jacked up check these two things
What are the brake pads like. If they are well worn & the pistons extended out a lot. They may possibly be dragging. Also make sure the hand brake is not over adjusted
When was the last engine oil change done ? Make sure fresh oil of correct viscosity is used.
Check to make sure aircon is not used too much while driving.
Keep windows up or open only very slightly.
Check & remove roof racks if fitted.
Consider removing rear large rear boot spoiler if fitted.
Smooth acceleration while driving will help. These things are very thirsty around town.
I find with city driving, if I get stuck at traffic lights a lot & held in long ques of cars the fuel consumption rockets up. Have noticed this in both V6 & V8 models I have owned.
That's what I can think of that's worth trying, good luck with it.