Tesco's finest still doesn't have the cleaning properties of Shell or BP normal 95 RON. Tesco can sell petrol cheap because it buys it cheap.... read into that whatever you like!
Basically the emissions lamp comes on (2.6/3.2) when an efficiency threshold is reached, the ecu counts up the out of efficiency range readings and when the total adds up to a certain level the light is illuminated.
3.2/2.6 cars have four catalytic convertors (two per bank), the first catalytic convertor really isn't up to the job that it was expected to do as they get older (especially on the 3.2) and hence the first Lambda sensor reads higher than expected readings. If you take the vehicle and have it emissions tested it will probably pass easily, this is because the second (main) cat is perfectly capable of doing it's job and the emissions are therefore within spec.
It is worth running some cataclean through the system at the correct concentration and putting a few tankfulls of higher quality fuel through.
It would also be worth checking all four sensors to be sure that they are OK. Codes that are being generated are P0420 and P0430, if just one of the codes is generated then only one side has the problem.....
Edit: Mark you can type far quicker than me! LOL