Hi I have a 2002 Rav 4nrg (petrol) automatic. About 2 years ago the engine warning light came on but the garage said the diagnostics didn't show anything so to ignore it. It has come on very occasionally since then, with no noticeable drop in performance. However, starting about 6 months ago, the car sometimes took longer to change through the lower gears and 2 or 3 times has made a loud clunking noise when pulling away. On long motorway journeys it goes like a bird and is fine. It seems to be when I have been in slow moving traffic or when it is ' pushed' up a steeper gradient. I have learnt to pull away slowly and nurse it through the gears which is usually fine. I took it for a diagnosis because having read on here about ECU problems, all the descriptions seemed to match mine. The only codes thrown up were P0420 and P0430, catalyst efficiency system and PO500,vehicle speed sensor A. My mechanic didn't suggest the cat and clearly thought it was not the ECU because of the codes and intimated that I should just 'see how it went' and if it kept happening, just get rid of it, i.e., he couldn't really be bothered or he was thinking about my purse! If it was the auto gearbox, would that have thrown up a code? I love this car and don't want to lose it even though it's old now (mileage 125K) but is in great condition body wise. I have read on various sites, not to immediately change the cat in the first instance, because it could be a variety of other faults which are just affecting the cat. I need to know that if I go along the repair route, a rough idea of cost, as my budget is limited. I would love someone to give me an explanation if possible of potential causes of this and remedies if they have experienced the same problems. Hoping for uplifting responses!! Thanks so much, Damsel in distress!