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Just to add some answers/facts:
petrol, 66000 miles, use standard unleaded, usually Tesco's, had a service since last MoT with new air filters, plugs included, the testing garage confirmed they'd run the car up before testing.I've heard of Redx which helps!
The garage have said if a new sensor doesn't do it they will replace the cat free as it's under warranty and after that their only other suggestion is engine management system is faulty but wouldn't that show up in other faults? It drives a dream in my opinion.