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There are three, what I call lumps, in the front exhaust pipe between the manifold and the muffler. Which one(s) is the catalytic converter? The dealership told me my converter was bad and in order to replace it they change out the whole pipe.
 

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2010 Tundra/2015 4 Runner/2007 Prius
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Here is a picture of the exhaust pipe. The front one is the cat and you have to change the whole pipe to replace it.
 
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