Where is the camshaft position sensor located?

Hello, it looks like you need to remove the Starter motor to replace the crankshaft position sensor, unless you can sneak it out somehow. Diagrams 4,5,6 are the crank and camshaft position operations, surprisingly it looks like it doesn't have a cam sensor, notice the info in diagram 7, It describes the operations of how the PCM detects a cam signal. Definitely a different design. I had to look twice at it.

Are any specific codes setting?

Here is the crank relearn procedure, after the sensor is replaced.