Since you are getting a camshaft sensor code you should replace the sensor..... it is about $50 - $70 I think and about a 20 minute job (if your slow) to replace....it is located on the passenger side, front of the engine...

I agree that it sounds like your RCM likely has solder joint issues.... if you have a friend who knows how to solder you can use the DIY here and take care of it in short order.... if you just buy a new one and replace it it is about $175... DO NOT throw the old one away if you do this..... send it to tighed1(DJ) and he will use it to help out other folks with similar issues....