I have error code P0420. Toyota recommended replacing A/F ratio sensor on bank 1. Did not fix the problem. Next recommendation is to replace cat converter. The car has intermittently shown this problem for the last 150K miles, about once a year. Based on what I have seen on forums, this problem is common, and often requires replacing parts until it finally goes away. There does not seem to be any clear methodology to diagnose the problem right the first time.
 
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