Welcome to JustAnswer, my name is XXXXX XXXXX X'm here to help get your problem resolved. Ask follow up questions, thanks.
Drain oil and install 5W30 engine oil. Road test, check for code return. With a scan tool, command an override of the cam phaser circuit and check for idle RPM to drop, engine run rough. Verify that the front crankshaft balancer bolt has the required torque of 110.6 foot pounds and then 180 degrees of additional tightening. Check for excessive crankshaft end play. If above OK and new oil doesn't help, replace the camshaft position exhaust actuator, also known as the phaser. Use special tool, J44217 or equivalent to hold chain. Also check for sprocket damage which could cause a misreading at higher rpm.