Hi this is lostrider, there is a problem with the camshaft VCT solenoids, it needs to be tested and replaced if found to be faulty, here is a service bulletin for the codes, hope this helps.
Some 2009 Escapes, Mariners, 2010 Fusion and Milan vehicles equipped with a 3.0L engine and built on or before 4/22/2009 may exhibit a malfunction indicator lamp (MIL) on with diagnostic trouble codes (DTCs) P0011, P0012, P0021 or P0022. This issue may also cause P034X codes to be present.
Follow the Service Procedure steps to correct the condition.
Eligible Under Provisions Of New Vehicle Limited Warranty Coverage And Emissions Warranty CoverageIMPORTANT: Warranty coverage limits/policies are not altered by a TSB. Warranty coverage limits are determined by the identified causal part.