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You converter is not the reason for misfire,Bad spark or leaking injector will release row fuel in converter and after burn and glow red hot. remove all spark plugs an look for one is black. or wet . replase plugs with DENSO or NGK inspect the wire for burn blue marks on the side or replace the injector if fluted cylinder.
Good luck
the data connect link for a rav 4 is a 16 pin connector under the dash to the left of the steering column.A scanner tool with the correct cable will plug in and download fault codes.
You have a cat converter ie eficiency code. Most shops are willing to sell you a cat converter and make a quick buck. However you can save some major money if you can find out what is wrong. A cat converter doesn't just go bad by itself something causes it to fail. Most likely a bad oxygen sensor or a dirty mass air flow sensor. I would replace the oxygen sensor in front before I replace converter. Reset check engine light and see if light comes back on. If it stays off you just save about 600 dollars. Oxygen sensors cause cat converters to go bad. So fix the cause first, then if you have to replace converter.
I also bought a used 2006 RAV4 Sport (in 2008) and I am really happy with it. What you need to look for is for a clunk, pop or knock type noise when you are turning the steering wheel left of right. I noticed it when I test drove it. There is a service bulletin ST001-08 not a Recall. The dealer would have fixed it under the 36000 warranty but I don't know if it will be fixed after that. The 2006 RAV4 has no recall problems for the accelerator.
you may need replace the catalytic converter, but 1st do this, clean the throttle body and idle airbypass valve, change the oil before the retest as well, get it as hot as you can before the test, hold it at a high idle prior to the test, this may squeak you by, as a 20 year smog tech these are the thing I did, if all else fails do the cat conv.
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