X5 3.0 petrol misfire and O2 issues

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I have an X5 '01 3.0 petrol which is idling rough (like a misfire or stalling) and the CEL is on constant.

Have had the codes read with a Peake reader are these are linked to Table 19 and were E4, E3, C6, CA, F2, F3, F1, EE, F0 and EF.

They relate to misfire in cyl 1 to 6 and the Cat convertor limit and O2 sensors limit on cyl 1 to 3.

Any ideas what i should do because I dont know where to start?

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Any hints on what i might cause poor idle?