I'm personally not quite as confident of ChatGPT answers as you seem to be, so if I had my choice I'd prefer to see the first page of your panic log for myself; cut and paste or a screenshot of the first page would be more than sufficient.
That being said, it does seem to be pointing at one particular sensor, TG0B, which is physically located on the battery. There are two sensors there including another one called TG0V and the general consensus is they are sending temperature and voltage information to the processor.
We do have a fairly authoritative wiki page dedicated to those kernel panics here on iFixit, and it may well be worth your time to read over.
iPhone Kernel Panics - iFixit
What I'm assuming your particular panic is saying is that the phone's CPU is unable to communicate with the TG0B sensor on the battery. Usually that's an issue with the sensor itself so that's where we normally start, but it is still possible that something else in the signal path could be the problem; there is the flex cable going from the sensor to the motherboard connector, the connector itself, the signal path and any components associated with it such as resistors or capacitors along the way, and finally the destination for the I2C signals on the SOC chip.
Anyway, that's why the AI result is including information regarding a loose battery connector and/or a logic board problem. As it points out, a fault in the battery is by far the most likely source of the problem, and frankly the only one us DIYers are going to be able to fix. You can discount the AI comment about a loose battery connector; Apple locks down all internal connectors with screwed down brackets, so I can tell you from experience that I don't believe we've ever seen a problem caused by a loose connector on an Apple product.
Having a family full of iPhone devotees, I've been working on them for quite some time and I can tell you for sure that you should definitely try replacing the battery first. It's quite doable on your own and will more than likely fix the issue.
If, after replacing the battery the problem still persists then you've almost certainly got a logic board issue. That is theoretically fixable, but it requires extremely specialized skills in microsoldering and board level diagnostic capabilities. I can tell you for sure that the cost will be far more than the phone is worth. At that point I'd be tempted to simply scrap the phone, but you could purchase a logic board that would fix the problem.
My conclusion would be to suggest you replace the battery then reevaluate the issue. If it's gone, you're all done; batteries for older phones like yours are almost dirt cheap these days so it'll be a very inexpensive way to keep your phone going. If it's still there you can poke around and see about locating a working logic board or possibly buy a damaged phone with a working motherboard you can scavenge for the parts you need, etc.
iFixit has an excellent guide to replacing your battery right here.
iPhone 6s Battery Replacement - iFixit Repair Guide
Although you can certainly find batteries cheaper, if you wish to support iFixit's repair efforts you can buy the battery directly from them.
iPhone 6s Battery: Replacement Part / Repair Kit
I would suggest the Fix Kit version, as it includes the parts like the screen adhesive and all the tools needed to do the job for only an extra $5 (and of course includes the battery with a 1 year warranty).
Hopefully that answers all your questions; if not feel free to leave a comment and ask. Good luck and let us know how it all turns out.
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