I have an 02 XLE 2.4 I4. Went through this problem last 2 years. Lot of research over that time. Will tell you the resolution, maybe you can use some of it. Would suspect there are some similarities. I got the code, intermittent and random at first, usually on the highway. would go out with around town driving. Eventually stayed on Found out there was a TSB for the 2.4 to correct this, covered up to 80k. New cat with a different media, and a ECU reprogram (assume a different threshold) Never checked if this effected the v6 as well. I found this out after performing a number of things to make the light go out. Here's what I know now.
The original factory programmed threshold for P0430 CEL is when cat goes below 90% efficiency. Means IMO if there's no blockage or performance issues, the cats still good, just a little more pollution. The main problem is inspection. The downstream o2 sensor is the one that triggers the code. Because its farther away from the engine, its has less ability to clean/burn off carbon. Cleaning downstream o2 with TB cleaner followed by MAF sensor cleaner can stop the light "for a while". DO NOT use seafoam deep creep, or any lubricant based cleaner on the sensor, will make things worse. Using an aftermarket cat makes the light go out "for a longer while". For the reasons stated above, the CEL is triggered by a specific media, and a specific threshold.
resolution: order toyota cat (with gaskets) from
toyotapartseast.com. Have mechanic install. Go to dealer, pay for reprogram.
What you should do.
1) Clean downstream sensor
if that doesnt work...
2) check for TSB
if you dont have one...
3) buy replacement cat and gaskets from toyota (no afternarket). Have your mechanic install.