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This is a cam sensor code, so about $100 for the sensor and about 1/2 hour of labor, so figure 150.
Remove the upper intake manifold, pretty common on newer V6 engines.
You may have a leaking air shock, that sags over night. Every time you start the engine the air suspension does a self-test and the suspension pump runs to level out any of the shocks. If a shock sags too much because it is leaking air, then this will set a code and turn the air suspension light on for awhile.
This sounds like a weakened ground problem in your dash. When you operate different devices, they can not utilize their normal ground, so they cannibalize the ground from another device, which makes that device go 'wacky'.
There are about 2000 codes for this engine, so the best thing to do is to have a Pro level tech diagnose this problem, by scanning the engine/transmission computer while performing a test drive and duplicating the problem.
Checking all the fuses is an excellent place to begin your inspection of this problem.
There are about 4000 codes for this engine, so the best thing to do is to have a Pro level tech diagnose this hesitation problem, by scanning the engine/transmission computers while performing a test drive and duplicating the hesitation.
This could be so many things. How are your mode 6 readings? This is the scientific data for the OBD-II system, not just scan data. See if something is borderline, like fuel trim, misfire counts, EGR ( if equipped ) and yes air/vacuum leaks. How are your coils? And how old is the mass air flow sensor? Again, check your fuel long term fuel trim, It needed to be no more than 4-5% on either bank.
This car has 4 throttle position sensors, 2 on the throttle body and 2 on the gas pedal, so I need to know the exact code. For the most part, the sensors fail on the electronic throttle body, which typically means a new ETC unit or electronic throttle control throttle body assembly ( not cheap ) with some new software.
The cam followers have to do with the computer controlled cam timing. This is a very complex job, the last one I repaired took almost 20 hours, but that was on an earlier Audi model year 2004. This is no job for a hobbyist, same with the fuel filter. These are great cars but it takes a Pro level tech to deal with them and it takes considerable $ on a regular basis. I can't afford to drive a BMW, Mercedes or Audi because of the costs involved, and I can do all the work.