Thanks for the advice here. I'm taking it to a highly reputable independent mechanic in Durham, NC. He's confident he can figure it out, and doesn't think it's the cats either based on what I've told him. I'll suggest checking the fuel injector function, coil packs, and the O2 sensors that were installed last year. On the possibility of an incorrectly aligned timing belt - skipped tooth, etc) I'm assuming that would show up more often than at idle after full temp is reached. Acceleration and steady state driving is absolutely normal. Any other suggestions? I just want to focus on finding the problem rather than replacing everything on the car in hope of solving the problem.