Update... Got my code scanner connected this weekend and the thing had a pending P0430 but no active codes being thrown or archived. Checking the voltage readings for the O2 sensors, Bank 2 / Sensor 2 was "stuck" a 0.24 volts with no other activity. Voltage output from the other O2 sensors was cycling up & down as it should. We replaced the Bank 2 downstream, drove the vehicle for roughly 20 miles and then scanned it again. The pending P0430 was gone and Bank 2 / Sensor 2's volts were cycling like the other 3 sensors. Boy-O took it for another inspection attempt yesterday and it failed again for O2 not ready.
Digging a little deeper into the scanner data, it shows that readiness for Heated Catalyst and Heated O2 are "not completed". The pending code has not come back, so is it just a matter of driving more miles? (and continue risking getting several tickets) What could cause the O2's to never achieve readiness yet not throw a trouble code?