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Imho the catalytic converters clean themselves when they have been at temperature for long enough. If the catalytic converters are physically in order (nothing rattles when you knock on the housing), warm up the engine and then don't run it below 3,000 rpm for as long as possible, go uphill. You can support this with an additive in the tank, i'm not a fan of that. Afterwards, you can also do an oil- and oilfilter change if it's due anyway.
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