Here we go...so I have an 2009 X5 bought it at 118k, a week of driving the car, the famous cel came on and funny enough it was the cats. I took the car to previous owner's mechanic and he said yeah this car needs cats and cel been on and off since 100k, we tried cleaning them, etc...so I started digging online to see how to clean them because in California those suckers cost $2500 and aftermarket are not allowed per state law. I tried cataclean , oxycat, CRC..seafoam, you name it, with no luck! I even got a endoscopic camera and plugged it in o2 sensor hole to see if the honeycomb melted or broken and sure enough I could see some degradation in the center and some melted spots...anyways long story short, I kept looking online and saw tons of diy videos how to clean cats and nothing that I didn't try....last hope I googled on how to clean platinum and I came across a study article from Europe I guess where scientists tried oxalic and citrus acid to clean cats under certain temp, bla bla bla..however to do this job, I had to take the cats out and cook them for about 8hrs in acid. As I had to fix the stupid oil pan leak that requires to take out the complete suspension and subframe which gave easy access to take the exhaust out. So I cooked those suckers per the article and even kept them overnight in the solution. After 2 days everything was assembled, reset all codes on the car and took it for a long drive. Fast forward, car has 145k on it now. Cats are clean as a whistle no cel light, passed smog, no more engine hiccups or stalls. Car is running great...bottom line whoever says cleaning cats is nonsense, well he is full of crap and wants to steal your money. Project costs less then $50 and you will have reenergized cats at over 90%. PM if interested on how to do the diy or just google, there's actually a guy posted on YouTube how he did it....sorry for the long post..
PS: if this doesnt work, look into a vacuum leak and also change the eccentric shaft sensor!