Should I drive the 100 miles? Or change the camshaft position actuator solenoid first?

I have a 2006 hummer h3 which the check engine light has been on for years, but since moving to new york legally it has to pass Inspection so took it to advanced auto and codes p0016 and p0017, p0300 came up, just changed the crankshaft position sensor and tried to clear codes no luck it said pending and learning, I was then told to drive a good 100 miles by the advanced auto people, is this accurate info? Because the way gas prices are I don't wanna take a trip if I don't have too, also told that with these motors 3.5 inline 5 have big issues with these same codes coming up when the camshaft position actuator solenoid is not working, I took a look and all screens are still on and no oil in the connector, What NOW! Should I drive the 100 Miles?