Idles rough aand checkengine light on, changed o2 sensor that was throwing the code and didnt fix

Code 53 is for a problem with the heater in the O2 sensor for bank one sensor one. It could be something in the wiring or you could have a defective sensor.

The problems you are describing indicate to me that you likely need to replace the coil pack that runs from the spark plugs ,and the plug wires end up at it.It also may be the spark plug wires,get a water bottle and spray the wires after dark and if you get a light show from them then replace them,if not,replace the coil pack.

okay, the o2 code can cause problems, theres a problem with one of the o2 sensors, theres 2 or 4 sensors,the repair was not done right or theres another bad o2 sensor, next thing i would check is the idle air control motor,this sounds like it sticks at time or just stops working,start with these things first,

Do you know if the plugs were changed, a bad or broken plug will also cause rough idle and slow acceleration?

try coolant temperature sensor

Why you change the O2 sensors; you read de Engine Code?

Review this info:
Read the Check Engine Codes
Turn the ignition switch ON, OFF, ON, OFF, ON and observe the CHECK ENGINE LIGHT....
Maybe in there you can find another problem.

these O2 sensors are cat convertor check sensors. id be checking cat convertors and hopefully you should try replacing if not all ready is the front bank 2, O2 sensor
if you have scanner can you see fuel trims in data display to confirm high fuel trim only on bank 2 either +-5 or more indicates problem and if bank 2 sensor 2 has fixed high 700mv reading cat no good(warm idling)

p0171 and o0174 is lean replace intake gasket they will be a teal color,the old ones are red. i work for chevrolet.this is a common problem

Check for crossed vacuum lines or leaks.That would definately give you a high RPM.Did you have the computer scanned at all.Dont just change the sensors if their good.Pay someone to fix it