After an episode like this I usually burn the car up the motorway for a few miles keeping it in 3rd gear. This seems to get rid of all messages and the event doesn't happen again for a few weeks.
I have had the plugs changed, and Lexia reports no issues.
The car has only done about 60,000 miles and was previously owned by a disabled person who was a gentle driver.
It's annoying but not seemingly critical. I hope it's not the cat conv. I have had 4 XMs and 2 Xantias, all petrol, with well over 100k miles on each and never experienced this fault - and never replaced a cat either.
Any ideas?
Garry