Since you just came from the dealership when it happened, they must have just sloppily reconnected the sensor harness connectors after servicing your car (did they do something with the fuel rail or intake manifold)?
The post-cat harness connectors are under the intake manifold cover, the one with the 7 stripes in the middle of the engine bay. Take out the microfilter housing first (search for DIY). After removing the cover, you'll see the two post-cat O2 connectors laid down horizontally.
Clean, remove then reconnect making sure the connections are tight. Easy DIY, not sure if it will fix your problem but at worst you'll only lose 20 min of your time.