My Kia sedona's check light came on they scanned it and came back with the po431 code low cat efficiency bank2
There are 2 catalytic converters on Sedonas, it sounds like the rear one is failing. These can be replaced with generic universal ones that can be found on ebay, don't let the dealership tell you otherwise. Any number of shops would install it for you if you brought it in to them, if you don't want to install it yourself.
Despite the fact that it may be running fine right now, It sould be replaced, however. A faulty catalytic converter will result in the vehicle's computer adjusting fuel/air mixtures, timing, etc. etc. in an effort to rectify what is percieves to be an inefficient engine operation.
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