Basically you need to check all the sensors that run to the PCM (vehicle speed sensor, coolant temp sensor, air conditioning sensors, power steering pressure sensor, etc.) because the PCM adjusts the idle based on the info it receives from these sensors. You can do visual checks on the sensors to check for damage or corrosion. But make sure you check for vacuum leaks too.
P0420 Catalyst System Efficiency Below Threshold (Bank 1)