so as expected, BMW dealer failed emissions and handed me a sheet advising me spend 5k with them to replace the cat install sensors, and 900 dollars to install new vanos solenoids (WTF.... 900 dollars to install 2 parts that takes ~20 minutes to swap and cost 300 dollars total to purchase)

I ordered new bosch o2 sensors for the failing bank post and pre, and new vanos solenoids.

Fingers crossed the cat is not bad, that is 1300 dollars plus days of work to install with my limited time.