Ya know folks, spending $100 on the Bentley manual and $150 on a fault-code reader is a sound investment, given that a dealer will charge you $100 JUST to run a diagnostic test... even if they don't find anything in the computer.
DIY camshaft sensor costs $120 in parts, O2 sensors costs $100 each (our 2000 year cars have 4 of them total, 2 pre and 2 post). Replacing the camshaft sensors takes about 30 minutes at most, maybe 15 minutes for each O2 sensor.
The Bentley manual also describes how to test your own coils, so you don't have to pay the dealer to do it.
Your Lane ------>