The EGR valve that is giving you the error is on the passenger side of the back of the engine. They are known to become clogged over time.

Two bolts remove the top from the manifold, and two more on the engine block itself. Unclip the yellow connector, then remove the MAF and intake elbow to give yourself some room. Wiggle the EGR out of the manifold, it bends so it comes out but takes some time. Clean off the tube that was in the manifold making sure there is no gunk left in it. Reinstall, reset ECU, and you should be ok.