P0420 hyundai error

Trying to clear an intermittent but recurring code on 106K 2012. Was going to replace O2 sensor to see if that would help. That would be the down stream right before the flex pipe? None of the sensors have been replaced. Plugs and coils replaced about 2 years ago. Can it be reached without lifting the car?

Fix your catalytic converter. This error means that it’s not working. No need to replace your 02 sensor without first fixing this.