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2003 Nissan Altima 3.5L with engine code P0345

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2003 Nissan Altima 3.5L with engine code P0345. Where exactly is it located at on the engine? And is it hard to replace??

Vehicle: 2003 Nissan Altima 3.5L

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It is near the batter (see picture below) it should take 10-15min to install it (if the car is not hot)

Nissan Altima Camshaft Position Sensor Location

see the service bulletin below for more info 

https://www.autocodes.com/uploads/nissan/NTB04-063.pdf

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