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Did you use OEM sensors?

Toyotas are SUPER and I can not stress this enough SUPER SENSITIVE when it comes to Sensors, I have used Denso in my Solara with good luck, but not without making sure it was the part they were selling to Toyota.

I have seen aftermarket exhaust cause the CEL to illuminate with P0420 codes.

If you use anything but OEM sensors, and the aftermarkets are a C hair out of the parameters the ECM wants to see, it will toss codes until you figure out that the sensors are the problem.

Ask anyone who has worked on Toyota foe any length of time....
 
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