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Could be a theft deterant system problem that is preventing it from starting. Next time it happens look to see if a "theft" light flashing on your instrument cluster. Car is at the age that passlock sensor could be failing in the ignition lock assembly.
You are just at the begining of diagnosis. Codes tell you what system has a fault. P0010 is a fault detected with Camshaft Position (CMP) Actuator Solenoid Control Circuit. P0420 is a fault with catalytic converter:Catalyst System Low Efficiency. I suggest you have the problem P0010 Diagnosed and repaired first. That issue could have set up the conditions for the P0420.
Code means that a misfire has been detected at #6 engine cylinder.
If your car is not low on coolant now, likely the heater core that provides heat is stopped up with rust. This is something I have seen many times with that year and model car. Many times we have been able to back flush the heater to get the coolant flowing throught it so you will have heat. This method of repair does not always work but we usally try that first trying to avoid the major exspence of replaceing heater core. My shop is in your area should want to call us so we can exchange more information.
Shifter cable may have broken. Have seen Fords cable ends wear out where it attaches to transmission linkage.
Likely you have a seat heat element that is shorting out. Control module may be seeing too much resitance and shuting system down. Compatible scan tool can check that system for fault codes.
The engine has a sensor that detects the engine oil level and oil tempuature. Possibly the sensor could have failed. Typically the message center would say "check engine oil level".
It has a speed sensor typically on the transmission that sends a signal to PCM computer and instrument cluster. Generaly we use a scan tool to see if speed sensor is sending a signal. Could be a bad sensor, problem with wiring, PCM, and most often a failed instrument cluster.
You may have a vacume leak causing the fast idle. Also have seen a stuck PCV valve cause this a few times.
I have checked there estimator guide against what we charge and have it to be very accurate most of the time. As you may have noticed that it gives a high to low average for both independant and dealers. You might want to call your local shop or dealer for a phone quote to compare.