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OP, how old are your O2 sensors? Once these get lazy, it's hard for the routine to pass. I would suggest trying new O2 sensors if you haven't already.
In ISTA you can run the CAT efficiency test. But it takes a long time, and the CATs do get hot running this test stationary.
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2008 BMW M3 E93 MT, 3.15 FDR
R135
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