Sharing my story on this issue. I am at 300K + on my 2008 V6. Just got the 420/430 Codes after running her out of gas (apparently this was coincidental as my mechanic says that the cats are not burned by leaning out when you run out of gas) and after using the TechStream to see upon testing that the reserve capacity of the cats was nearly non-existant (so they still full flow, thus no MPG deterioration), I figured I would give replacing the cats a try. I also am not burning oil, so my mechanic buddy just says they wore out. For months I have just been clearing the codes each trip and driving, and since my cats are not clogged/melted, but wearing out, it's not a problem, just a PITA.
I also looked at the dismantlers to see if I could just get a factory set with 100K +/- miles on them, but even those were $400 a pair. So, I ordered a set of the aftermarket ones from ebay few months back (~$200 total for both sides plus I bought Toyota gaskets, new studs and nuts). I have been soaking the studs and nuts in PB Blaster, WD 40 penetrant, and the acetone/ATF mixture alternatively for a few months. Will let you know how it goes. I am going to replace the A/F and O2 sensors as well (Denso units from amazon), so I am just gambling that I can get a couple hundred thousand more miles out of it.
I mean, it's only like 12 nuts for the manifolds/cats and then 10 more to unhook them from the engine and back-end exhaust..... that is 2 fewer fasteners than a 4 tire rotation, right?
Will update how it goes...