Location of the camshaft sensor on a Hyundai Sonata 2002 V6?

What is your question?

I received code P0340 and bought a camshaft sensor to see if I can replace myself. I don't have the owners manual and can't find a good diagram or description online. Can someone please provide more info, pic, or cost to replace (if I have to take it to the shop)? Rather do it myself if it's simple enough.