Engine code P0431

[JP13]

A code P0431 may mean that one or more of the following has probably happened:

The catalytic converter is no longer functioning properly
An oxygen sensor is not reading (functioning) properly
There is an exhaust leak

I'd take it to a shop that can read live data while driving it. If they tell you it's an o2 sensor (I think this is your most likely culprit), I'd replace all 4 honestly. Get the NTK/NGK sensors and get them on Amazon. I got all 4 for about $120 which will be much much much cheaper than the dealership will charge. Do not let them use aftermarket sensors.

Are these the correct part numbers?

Ngk 23018 bank 1 sensor 1 upstream
Ngk 23160 bank 2 sensor 1 upstream
Ngk 23159 bank 1 sensor 2 downstream
Ngk 23258 bank 2 sensor 2 downstream