The camshaft position sensors are very rudimentary/robust instruments with extremely low failure rate, so I doubt that they had anything to do with the operating issues you describe.   The codes you listed are related to the Catalytic Converters and that should be the starting point for diagnostics. The CAT's can last very long unless there's factors such as oil burning or excess fuel.   If the CAT's are getting blocked they'll be restricting exhaust gas flow and the symptoms will be worse when going up a hill etc.   As a test you could pull the upstream O2 sensors and assess the exhaust pressure at that point with the engine running and see if any of the symptoms clear.    Best not to use that person for diagnostic advice going forward.

The car was stuttering and hesitating when shifting especially when going up hill. Ive replaced the 2 cmp sensors i could find. I also had to replace an ignition coil due to it misfiring. And I reset the codes. Now it's giving a p0420 and p0430. Replacing the sensors improved the stuttering alot but didn't completely resolve the issue

Why are you wanting to change the camshaft position sensors?  

No, only two.

Thanks, but this only shows 2 camshaft position sensors.  Isn't there 4 of them?

Yes I've watched every video I could find. But I was told that there are 4 camshaft posirion sensors since it has dual overhead cams. Ive already replaced the ones that he changes in the video. I need to know where the other 2 are located.

This might help.    

Hi, I need help finding the two camshaft position sensors on the passenger side of my 2013 ford edge 3.5L V6 with dual overhead cams. Ive already replaced the two on the driver side of the engine. Any help would be greatly appreciated. 

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