Starting o5 year model they put cats and raised operating temps, cut timing etc.
07 they cut compression and to compensate somewhat enlarged engine size or some of them did. that is when they started the urea injection. It is corrosive.
It's been a bit since I've read the Ford and Cummins diesel engine forums but after awhile they have had some problems with corrosion sensors etc from the urea. All this added as much as ten thousand dollars, depending on who you quote.
They had to retrofit engines on trucks even fork lifts in California. Up to 500hp hp required one unit anything over required two units. Most trucks were running 550hp so guess what. It's been a while since the conversations but it was 15,000.00 or more per unit, I remember.
The new diesels are cleaner. You don't smell them. It is day light to dark behind an older diesel semi and the new ones.