How much to replace catalytic converters? Will it harm car to drive until replac

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I was told my two catalytic converters were inefficient and needed replaced. I was quoted $1885. Is this normal? Will it hurt my car to drive it until I can get them replaced? i.e., burn out sensors or damage transmission? My engine light came on two days after I ran out of fuel and IMAP put a gallon of regular in my tank. I drove approx 6 miles to the nearest station to fill up .. could this have caused the code?