Sorry about that! looks like SOMEONE changed some variable names under the covers... grrrrr. The two cases of ->category_id needed to be changed to ->cat_ID inside cg-samecat.php. get_the_category() returns a category 'object', which apparently had variable name changed, whereas the_category_id just returns a cat ID #. list_posts_of_cat can take category IDs (comma sep'd string if more than one), or a category-object array-array like get_the_category returns.
I'm working on 1.5.1.1 right now (have been ALL week...), and may release it today and move on to .1.2 for further issues. Enough little things like this have built up.
I just test it both sidebar and per-post, and works fine with my above change.
If the post belongs to a few categories, then those categories will be the filter. If you don't want specific categories in the filter, you'd need to remove them before passing through to list_posts_of_cats. That'd be pretty much what any such plugin would do, given multiple categories. ;)
You can also explicitly pass a category ID if you wish to show posts from a specific cat. Useful for showing 'latest posts
-d