the codes are for your downstream O2 sensors. you also mentioned you just installed an off road midpipe. the only thing the rear O2 sensors do is make sure the cats are doing their job, which you no longer have. without looking up what the codes actually are (i'm assuming high or low voltage), i'm wondering if you installed MIL eliminators? as far as stumbling goes, you just installed headers and a midpipe, freeing up alot of air. try resetting your computer (pulling the negative cable on the battery and waiting for a bit is the easiest way) and fire her back up. rear O2s shouldn't cause any driveability issues, only emissions issues, which is why the light came on and code got thrown. somebody feel free to correct me if i'm wrong.