2001 RAV4 - Mode $06 TID $01 CID $02 Error

Using Torque Pro I got TID 01 CID $02 error.
It says Rich to lean sensor threshold voltage constant
Max: 128 Current: 143

I did some research and for Toyota:
Both TID $01 and CID $01 relate to the catalyst monitor.
TID $01 as Catalyst and CID $01 as Catalyst Deterioration Level for Bank 1.

I got TID $01 as Catalyst and CID $02 as Catalyst Deterioration Level for Bank 2 but not sure.

Could this mean a bad downstream O2 sensor or are the catalytic converters really bad?

I also had error codes P0420 and P0430 indicating bad catalytic converters.
Any help would be appreciated. Thank you.

It is very possible that the problem is the Sensor 2. Considering the difference in cost, I would certainly replace the downstream sensor and see if it solves the problem. I don't know of any other sensor which monitors the catalyst efficiency for the ECM other than the HO2 sensor.

I would like to be able to test the sensor more thoroughly before replacing it. When I reset the codes, the light stays off for almost 2 weeks. I was fortunate enough to pass inspection because it completed and passed all of the monitor tests long enough.