Sounds like a failing EGR valve position sensor. Here is the diagnostic process for your code:
Heres a diagram of the EGR valve position sensor location:
Use an Ohmmeter to measure the resistance between the terminals as shown in the table.
It not as specified, replace the EGR valve.
Please let me know if there is anything else I can do to assist you.
Yes, if any of the readings are incorrect you will have to replace the unit.
You need to check the harness. Here is the test procedure:
Also double check the readings from the PCM. Here is the PCM connector diagram so you can check the terminals in the diagnostic process that I previously posted: