What needs to be replaced when you have error message: P0016 P0017

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2007 Mercedes E350 What needs to be replaced when you have these codes and the comments are: P0016=Constant Adjustment of intake camshaft of right cylinder bank in direction Retarded. P0017= Constant adjustment of exhaust camshaft of right cylinder bank in direction. Car runs and sounds fine but this was from check engine light so we ran diagnose.