@huw169 great questions and as you put it us meer mortals get really no say in it. Even when you report a drop in power your told your not driving correctly... I'm an oil and gas engineer and not dumb when conest to cars. New ones are harder to do your own work too but as I've learned not to doubt myself.
What I seen on my van was 1 year at 38mpg Ave 1 year at 36mpg and 3rd year it dropped to 34 then 32 then 28 then the NOx sensor went.
From my understanding the NOx sensors should be replaced in batches, there are two, and best change like you do your tires on your axle as well a new one will read differently given the ecu brain and fancy cpu should adapt for that change.
They can be contaminated by carbon, which can be seen in your emissions test, and as I've likely found a faulty EGR valve not working as it should. Higher than normal temperature is also not so healthy for them so if your burning lean for a long time, its not going to do good.
In my experience I think its contaminated as a result of the EGR, I know my van was down 15bhp, running hotter and running rich compared to another same year engine spec and close batch number of van , but I had friends with garages to look at this.
As for costs. 65 quid for a diag done in inverness that nothing was done on even though the egr fault was seen. Petrol there and back was 60 quid.
Petrol to edinburgh twice to tell them fuel economy and power was down circa 80 quid. (Not including other runs there for faults) two return journeys to perth autoservices to finally get the fix done, 30 quid in pizza for a favour being collected from there and another 40 quid in fuel. Then half the cost of the NOX sensor (only one) at 300 bucks so just this fuel costs was near 275 quid and 300 on the NOx.
Total fuel im likely about 6 to 700 quid to get the faults I've had over 4 years owning a new can fixed.
And I expect there to be more to come. I know my heated seat plays up.....