went in the other day, and they checked my ECU, but didn't need to reprogram it, as it already had the latest information on it. Therefore, they went ahead and ordered a new cat (they can't keep it in stock because Toyota finds stocking too expensive). When I came back to switch out the cats (which was to take about an hour and a half), they managed to strip the threading on the oxygen sensor, and told me that I would need to leave my car there for at least a week until the sensor came in (they had none in stock, and no where else in the southeast had one either). I was f'in pissed. They offered me a rental car for free, but apparently you need to be 21 in order to rent a car, and I don't fall under that restriction. So when a friend was coming to rent a car for me, and give me his car to borrow, the technician came back out and told me they rethreaded the sensor with a tap, and that my car was driveable. However, they said that they still needed to get a new sensor, and that I would have to come back in a week. So i told my friend to go back home, and left the dealership with my still stinky car, and 4 hours lost. Very frustrating. Nonetheless, the associates were very nice and apologetic, and the stuck oxygen sensor is apparently a common problem. However, I did get one thing out of it, I managed to get a $300 offer (after tax) on the 06 LED taillights from the parts department, which imo is better than going through the hassle of shipping from online and I get extra bulbs as well. Check your local Toyota dealership and see if you can get the same deal if interested!