Infiniti EX35 Questions

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i was told my O2 sensor was bad, one converter was bad, and one was weak. I have not noticed any reduction in performance or unusual noise.
It usually occurs when the gas tank is around 1/4 full.
The brake light indicator illuminates and goes away and then leaves the VDC, LDW and stability control indicators on until the car is stopped and restarted. Does not do it on very gradual acceleration???? sensor??? ...