That is weird. You're in Cali?
The only way I can think that the car will run with misfires and blow low hydrocarbons and NOx is if it is running lean. Lack of fueling to the cylinder. But, its not running rough, is it? Its getting good mileage.
The car, ever since new, has always maintained a freeway gas mileage of 24-26mpg.
Also, it idles/runs/accelerates like new.
Were it not for the CEL issue, I would not be concerned.
KNOCK SENSORS :1pat:
The knock sensors on the car pick up vibration/noise from the engine which the ECM translates as a misfire or detonation depending on the noise level. The knock sensor is a microphone made of a series of plates that when vibrated changes the resistance on the 5V signal from the ECM. Different levels of vibration, different feedback. There are 2 on the engine, on top of the block under each side of the intake manifold. They are in a tight spot to get to without removing the intake, but it can be done. Each has a single plug, and held down with a 12mm hex head bolt. If the sensors are corroded, they will vibrate as with a detonation or vibration caused by misfires. Could be cracked, rusted, whatever. Its just a stack of plates and if loose, they move too easily, sending incorrect information.
I've been thinking about your gas mileage, too. My VDC got me 29 mpg before the supercharger installation. Yours should be no different unless you are up and down a lot of hills/mountain roads. In which case 24 is good. If the knock sensors are the problem, new ones will possibly allow for better fuel economy because the ECM will not be fluctuating the fuel and timing to correct for a miss that isn't there.
Knock sensors:
https://www.carid.com/standard/inte...FEbKs82uBWeKAXpP5WXDmnFviVdbtXZxoCxAkQAvD_BwE
The knock sensors are circled red in the photo. This is an H6 out of a car with the intake removed.