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Code P0015 on these engines is usually caused by a faulty OCV valve. To test it, you'll need a Toyota Intelligent Tester (with CAN VIM) or equivalent tool:
If engine does not run very rough or stall with OCV ON, replace OCV with new part number 15330-0P020.
Please let me know if you have any other questions. Best Regards.
I don't know what you mean by "they are working fine". If the engine runs very rough or stalls when the OCV is turned on for bank 1, then the basic valve timing and VVT operation are probably OK, so you'll need to monitor the signals/PDI from the crank and cam sensors with both the scan tool and a lab scope to see why the ECM thinks the cam timing is retarded and so keeps setting P0015. If the signals are OK on the scope, but the PID are off, then the ECM might need to be re-flashed or replaced.