Bmw start misfire P1344, P1352, p1347

Question

Any suggestions of diagnosing these codes further ?

03 Bmw 525i

P1344, 1352, 1347

The engine runs very well and sometimes it gets a rough idle here and there, I swapped out the ignition coils, spark plugs and camshaft sensor but still the same thing, The codes do not trigger the check engine light but shows as pending once in a while on my scanner.