My RX has the issue with the PCM where it throws a P-0610 on every cold start. The car runs fine, but it has a CEL every morning. Smog places don't like CELs.

Luckily on my car it goes away after 5 or 6 ignition cycles, like everyone else. So once the light clears, you need to drive 50 miles then you can pass smog.

The light and code seems to be innocuous, no loss of performance or gas mileage.

So this morning I needed to get smogged. I drove to work, ran a few errands and after 5 ignition cycles the CEL went away. Then I drove 60 miles (Santa Cruz via 17 and 9 back) and took it straight to the SMOG place.

After 30 mins they told me I passed. Now I have to deal with the CEL every day, but hey, at least I'm legal.