Okay everyone, here is the outcome of this little adventure. P2096 came up a few weeks ago out of the blue saying the issue was in bank 1 downstream. After changing out both O2 sensors (not knowing which side was bank 1), the problem remained. After the dealer diagnosed and quoted $1600 to replace the passenger side front catalytic converter, I took it home, ordered the part and swapped out the cat. 2 days and 250 miles later, the light turned off! Hence P2096 can be more serious than just a bad sensor. Still investigating to determine the cause of the first cat failure. It doesn't have any external physical damage so I am going to continue checking the engine for problems to make sure it's in good shape.

Thank you everyone for your insight on this.

For those who ever search for bank info in the future, bank 1 is passenger side. 100% without question.