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The vehicle has 100,000 miles, replaced the cam sensor, serpentine belt, and spark plugs, and always change the oil as recommended. Any idea why this code keeps popping up the check engine light will go on one day and off the next?

Vehicle: 2008 Toyota Yaris

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P0012 Camshaft position "A" Timing over retarded Bank 1

The camshaft sensor? The camshaft timing is controlled by OCV (Oil control valve) which the ECM bases it on several sensors. If you replace the camshaft sensor nothing will change. This code condition is more for the OCV

Toyota Yaris Camshaft Position Sensor Location 

Here is the location of the OCV valve. at the side top of the cylinder head

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P0012 Toyota Code - Camshaft Position 'A' Timing Over-Retarded Bank 1
Read more: https://www.autocodes.com/p0012_toyota.html

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