Getting several codes

Troubleshooting so far was to replace 1 of the oxygen sensors that the cat code references.

Could someone advise which code is likely the actual problem? Or where I should start looking.

Codes are
29f5
2a98
2a82

Car has 140,000
Engine is n52. 3.0
2007 x5 3.0

Inspection is due and dealer insist the solution is to give them 4000 to replace both cats...


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