Help: P0344 Code on 2001 X5

Got an OBCII fault code P0344 on my 2001 X5 3.0 engine. This is a camshaft position sensor code. Vehicle will stall occasionally, and idles a little rough. Any help on repair costs, DIY hints, etc?

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This should be a warranty item.
If the cam sensor fails, the computer won't know where it is, and won't fire the injectors and plugs at the right times, this will result in poor running and stalling.

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