Some cars suffer from the throttle body and butterfly gunking up, which can cause idling problems. Have a look and if it is then give it a clean. Carb cleaner can be had from Toolstation for £3 ish. Use rag and an old toothbrush and spray the cleaner on these first - don't swamp the throttle body.
If, as Mech suspects, it has mechanical wear then more drastic measures are required. Air leaks around the butterfly shaft can cause the kind of problem you describe (I'm assumng this is what is being alluded to). I've no idea if anyone offers a rebuild service for these. I have however had some success with the odd diy rebuild by packing plenty of moly grease around the shaft and seals. But this will need repeating sooner or later. Maybe a low mileage second hand unit would be better bet.
However, since you specifically asked about the lambda sensor, do you have some diagnosis which has pointed at this as the fault?
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