I am having a similar issue. Started the car in the morning and I got the P0341 code (Camshaft Position sensor 'A' Circuit Range/Performance (Bank1 or single sensor) come up I drove about a mile and cleared the alarms and it is fine for the rest of the day no issues.
But this only happens in the morning really first start of the day. Then I got another alarm P0420 come up few days later with the P0341 again this is intermittent. I was going to clean up the 02 sensor hopefully this sorts the 420 alarm but lost with the P0341 error I have done regular oil changes and maintence. Dirty sensor? Or time for that timingybelt to be changed? Thanks in advance for the help!