there's more than 1 O2 sensor code, there are rich/lean correction factor codes (51/52) and 21 (which he asked about) which is related to the way the O2 sensor operates (voltage out of spec, response time, heating element - all monitored by the pcm and fairly straight forward if there are no electrical issues with the o2 sensor wires) and for this case a vacuum leak is really not related (cracked exhaust manifold maybe).
51 or 52 by common sense would make you think that could be triggered by a vac-leak but honestly i think you might be mixing some of your other vehicles with the Jeep - I don't really see how a bad intake manifold gasket or vac line to your axle (a vac leak in general) would result in an O2 code, our Jeeps use a MAP sensor, could happen with a MAF sensor but that's not our case, you have a vac leak your idle goes high.