Check engine light came on
 

The X is driving fine, but the CEL is on.
Got the following codes:
Lambda Control Downstream Catalytic Converter Bank 2
Lambda Control Upstream Catalytic Converter Bank 2
Insufficient Heat Output, Oxygen sensor before catalysator bank 1
Insufficient Heat Output, Oxygen sensor behind catalysator bank 1

Any thoughts guys?

Btw, it has over 190,000 miles.

What Year and what type of X do you have? With those codes, it seams like you are not getting any combustion in some of the cyl's.

2002 3L
The engine runs fine, I thought maybe the pre-cate and post-cat oxygen sensors need to be replaced

Lambda control is just another word for O2 sensor. At that mileage, I would replace all 4 of them.

^^Yup. Agree 100%.

agree.
the cat converter fluid fix wont work if the inside is torn apart.
try resetting the codes maybe it will run for a bit. temp fix

I must have missed something, I didn't see any reference to using a cat converter fluid to fix this problem.

Just saying before someone offers him a cheap fix... which wont work...
Cataclean, catalytic converter cleaning fluid
thats stuff like 25 a bottle. I tried on my volvo.
Used to have a 2.8 twin turbo volvo which made a rattle. Someone told me to try that cataclean fix. And it was a waste. I ended up replacing both cats. Was a pain to do. the cats are right after the turbo and half behind the motor..

Thanks, do you know what they're called?

Are these the correct parts?
2 pre and 2 post ?

New O2 Oxygen Sensor Set of 2 After Catalytic Converter 525 325 323 328 330 Pair | eBay


New O2 Oxygen Sensor Set of 2 Before Catalytic Converter 840 850 5 Series 6 Pair | eBay