The cat efficiency codes on our cars (V6) is often a false code. The recalibration of the parameters that set the light and code may resolve those problems if a new program is available. My car is among those that doesn't have a new program.
For now, clear the code and see if it comes back. If it is anything like my car, it came on occasionally. Sometimes six months apart, sometimes a couple of years apart. I still have the original cats. I have not had it return since replacing the upstream oxygen sensors, but perhaps there has not been enough time yet.
Running some cleaner through the engine may also help a marginal cat to work more efficiently again. Injector cleaner through the tank, or Berryman's through the intake and chemically clean the intake some at the same time.