Very rarely does the replacement of a rear O2 sensor "solve" a P0420/P0430 code.
P0140 is bank 1 rear O2 sensor (passenger side) while P0430 is bank 2 (driver's side). The two are likely unrelated.
It looks like there is a TSB related to your P0140 code -
ITB02-027a - 2000 – 2002 I30/I35; MIL "ON" WITH REAR O2 SENSOR DTC P0138/P0139/P0140/P0158/P0159/P0160/P1147/P1167. If you choose to this TSB performed at the dealer, you'd probably have to pay quite a bit since both rear O2 sensors need to be replaced and the ECM needs to be reprogrammed.
If you'd rather try to simply replace the sensor, I believe
this direct-fit Bosch O2 sensor is the correct part to solve your P0140 code. You can get it for $68.99 before tax if you order online with discount code
CCABIN and pick-up in store. You'll need a 7/8" or 22mm (preferable) O2 sensor socket for replacement.
As for the cat, I'm not sure which bank is which since it appears that there's a front cat and rear cat on the same exhaust pipe. Check for air intake plumbing leaks and for exhaust leaks first before replacement, though.
Does your I30 burn any oil? Burning oil can hasten the demise of the catalytic converters.