I haven't have to replace this on my Crossfire yet but did have to replace the crank sensor on my ML320 (same engine). While the check engine light would clear the code was still stored on my ML320. If you are getting camshaft code I would start there and it is easier to replace than the crank sensor. It is on the front of the engine near the dip stick. It is a very similar sensor to the crank sensor but doesn't seem to fail as often as the crank sensor.