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ive replaced sensor and pig tail (connector for the sensor) these codes show up every other start up but not while driving, codes are P0345,P0349. What could be causing this issue?

Vehicle: 2007 f-150 ford 5.4L

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P0345 Camshaft position sensor "A" circuit (bank 2)

P0349 Camshaft position sensor "A" circuit intermittent (bank 2)

Can be caused by a mechanical problem, Is there a rough idle? or a rattling noise? You can perform this test. Set the parking brakes and step on the brakes put the vehicle in drive gear and bring the RPM to 1500 RPM. And release the throttle,If there is a rough idle or a rattle noise, then you have a oscillating cam timing, where you need to replace both VCT (variable camshaft timing) oil control solenoids. This is 1 test, You may have this as your problem. You stated you replace the pigtail connector, The camshaft sensor are ground shielded wiring so the ground shielding has to be in place.
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Reynaldo I tried that test there were no rattles or rough idling, what other test's would I be able to perform to trouble shoot the problem? the truck does run like normal after the codes are cleared and they do not pop up while I am driving just after it starts is when the codes come up, and its every other start still.
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Test the reference voltage what you will be doing is a ECM verification test, The type of cam sensor you have is a magnetic pulse generator ,There are 2 wire one of it is signal return , or what is known as cam sensor signal, the other is cam sensor reference this is , On bank 2 cam sensor reference tap into bank 1 cam sensor reference, and do the test from there,

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