If you have a smart phone, just get a OBD Wifi device, down load a good software(I use OBD Fusion) and read away(it is what I have my kids use, we have had 3rd gens for about 20 years, land cruisers for 25+ years). The original cats on the 3rd gen are typically good for about 250k miles give or take(I have seen a few into the 300K range). The cautions I have about these miles are if no Oil has been puking into the cats from an engine not working properly. I would also guess o2 sensor, but you really need to get a way to read the codes to know for sure. O2 sensors can can lead to overfueling or underfueling, effect fuel economy, and if over fueling, wash cylinder walls down and destroy engines. I believe that O2 sensors are under understood for a while.
As for the codes, most are for emissions(no EGR on the 3.4 engine), rest mostly are for Knock, TPS, water temp(different than the gauge), So not knowing the code and just go down the road can lead to issues.
As for the Cat falling apart. Has you power dropped, engine not responding to throttle response very well. then maybe the cat honeycomb is starting to plug up, but if you have not lost power, then I think you are ok. One thing to do, lay under the truck, have some one use the throttle and rev the engine, you listen close to the cat and see if you can hear a rattle, again, if no rattle, I do not think you have an issue with the cat.
A crazy Idea for you. Maybe learn a bit more about working on your specific rig, before taking it offroad(especially if you are by your self). I have helped my local(where ever I was living) Toyota club in the past for close to 20+ years. The crazy thing I keep seeing, people taking their rigs offroad with out knowing how to work on them, and not keeping spare parts and tools to work on your specific rig. I was happy to help broken down truck with my tools, spare parts and Knowledge during those times. But I did scratch my head seeing people stand by their trucks when they brake down, with no idea on what to do.