O2 Sensor Low Voltage on Both Banks - Diagnosis and Fix for [Year] [Make] [Model]

I'm experiencing two O2 sensor low voltage error codes: Bank 1 and Bank 2. While I've found discussions about individual bank issues, there's limited information on both banks showing the same fault simultaneously. The truck exhibits a noticeable hesitation when accelerating after starting, but once it reaches cruising speed, operation returns to normal. I'm looking for insights into possible causes and solutions related to this dual O2 sensor low voltage issue in my [Year] [Make] [Model] with a [Engine Size] engine.