The cam sensor reads the camshaft rpm and the crank sensor reads the engine rpm. But the code is saying the positioning is not correct in relation to each other. I would replace the cam shaft sensor and cam magnet first. Erase the code and if it comes back there is a mechanical problem inside the engine. The sensor may cost you around 300 bucks and it would be maybe 500 installed. Do you have the v6 or the 230 compressor 4 cylinder?
If you have the v6 do you have the 240, 320, or 350 model.
The reason I ask is because the newer motors that were the 350 had issues wit the cam magnet. That was the first thing we did at the dealer was put that in. IF the codes came back right away we knew the front mechanical mechanism was broken and the motor needed to come apart to do it. Thats a big job. But if you have one of the other motors I would put the sensors in. If you want to save money put the magnet then the cam sensor and erase codes to see if they come back each time. Crank sensors go bad but they don't trigger that type of code. Usually the car don't start with a bad crank sensor.