Thanks Toyotafan.
i have been experiencing poor mileage. I bought the SUV two years ago at (179k miles), the 4wd never worked as far as i could tell although i never had real need for it until 8 months ago when i got stuck in mud, i decided to give it a go and i got the blinking orange light which means its still on its engaging journey, i had to be towed out. i noticed the vsc trac and vsc off check engine light come on about a week later. its been parked since that incident until December last year. I used two full tanks of gas for less than 180 miles no kidding. i got it scanned and theses popped up p0031 and p0051, i took it to a guy who said I should replace the catalytic converter on the right side, the muffler and all 4 O2 sensors costing over N200,000 ($1100+). he said to change the converter as its responsible for the poor mileage, i thought it should have set off a code if it was faulty? what do I do? I need to be sure that the converter is bad before i shell out that much for a new one. Are there any diy methods of testing them?