your dealer is trying to rip you off, you only truly need the 2 o2 sensor that lead off the block (v6, 1 if i4) the one post cat is useless so is that cat unless you have emissions.
you can change your o2 sensor your self might take a lil new skills,
if you go under there and it's really is too hard to take out due to the heat then heat it up with a tourch, and then take it out, rember the wear gloves when working there or you'll burn your self
try replacing that o2 sensor and see if it goes away or else i can tell you how to alter the o2 sensor reading to turn the cel off till you can get the car replaced