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Keep getting this code: P0345 Camshaft Position Sensor “A” Circuit (Bank 2)
How do I take care of this? Can someone give me directions on how to find and remove the camshaft sensor(s) and how to clean them? Or, is this a situation where I have to replace the one or both? Pictures would be great.

I have a 2008 WRX STi.
 

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The camshaft position sensor on the 2L 2002 motor is on the upper outer front edge of the cylinder head to your right as you face the car's nose. In the US this is the driver's side. Tightening torque is 6.4 Nm or 4.7 ft*lbs.
 
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