It only happens when on cruise control doing about 80 on a freeway.
All my reading points to an O2 sensor, but I'm not sure if it's one or both of the front sensors, are maybe the rear.
Subaru suggest it's a failed cat, which they are happy to replace for only $5,000

I have a Bluetooth OBD2 interface, and Torque-free installed on my Android phone.
I think by logging the O2 sensors, I should be able to establish if they are the problem.
Only a few of the O2 sensors listed by Torque actually seem to give a reading.
Can anyone advise precisely which PIDs I should be watching, and what for?