What's your problem? the code p2004,p0016 and p0017 keep comin up

https://www.youtube.com/watch?v=8nHFEkDZsEQ

P0016 Crankshaft Position Camshaft Position Correlation Bank 1 Sensor https://www.autocodes.com/p0017_chevrolet.html

P0016 Chevrolet Crankshaft Position Camshaft Position Correlation Bank 1...
https://www.autocodes.com/p0017_chevrolet.html

the common causes for code P0017 are as follows:

• A faulty cam or crank sensor
• The cam or crank circuit is open or shorted
• The timing belt/chain is out of time
• The cam or crank tone ring is slipped/broken
• A problem in the VVT system P0016 Crankshaft Position - Camshaft Position Correlation (Bank 1 Sensor A) P0017 Crankshaft Position - Camshaft Position Correlation (Bank 1 Sensor) God Bless! Hope this helps you.

...either fix the camshaft sensor or find if car is out of time.

I’m happy to assist further over the phone at https://www.6ya.com/expert/josh_8f8ad0a8f7e0e6d3

P0016 is the crankshaft position (CKP) to intake camshaft position correlation; P0017 is the exhaust camshaft position correlation.

P0016 sets when 'The ECM detects 8 of the last 10 cam sensor pulses occur during the incorrect crankshaft position."
P0017 sets when 'The ECM detects 25 out of the last 35 cam revolutions occur with 2 cam sensor pulses outside the CKP window."

Basically, you're getting pulses when they shouldn't happen, from both cam sensors, or the CKP is generating incorrect window info. Since the CKP is the common element, it's probably the culprit.

The cam position sensors are at the back of the head, one on each side corner. The CKP is under the oil filter housing, above the starter. To replace the CKP, you're supposed to remove the intake manifold and starter.
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if you have a lot of miles on this car , it might be time to change the timing belt or at least tighten it up if it still looks good. Stretched belts can also pop these codes as the cam and crank are no longer lined up exactly where they should be to each other.

This code is not specific to a Cam position sensor failure, sensor failure may set this code. Below is a TSB (technical service bulletin) regarding this code. Keep in mind when replacing cam or crank sensors, they may need recalibration which is done by the dealer. If your vehicle has less than 60k miles, it may be covered by Toyota's warranty. Here is the TSB link below, hopefully this helps: http://www.djmase.com/tsb/Camry2007/eg004t.pdf

P0010....'A' Camshaft Position Actuator Circuit (Bank 1)

P0011....'A' Camshaft Position - Timing Over-Advanced or System Performance (Bank 1)

P0012....'A' Camshaft Position - Timing Over-Retarded (Bank 1)

P0013....'B' Camshaft Position - Actuator Circuit (Bank 1)

P0014....'B' Camshaft Position - Timing Over-Advanced or System Performance (Bank 1)

P0015....'B' Camshaft Position -Timing Over-Retarded (Bank 1)

P0020....'A' Camshaft Position Actuator Circuit (Bank 2)

P0021....'A' Camshaft Position - Timing Over-Advanced or System Performance (Bank 2)

P0022....'A' Camshaft Position - Timing Over-Retarded (Bank 2)

P0023....'B' Camshaft Position - Actuator Circuit (Bank 2)

P0024....'B' Camshaft Position - Timing Over-Advanced or System Performance (Bank 2)

P0025....'B' Camshaft Position - Timing Over-Retarded (Bank 2)

I think your sensors are pattern parts and the readings /resistances are not the same as the original parts ,try some bosch units is my first suggestion ,

I'm not a Jag expert, but error code 17 is:
P0017 Crankshaft Position - Camshaft Position Correlation (Bank 1 Sensor B)
Additional infomation on and cause and possible solutions are here:
http://www.obd-codes.com/p0016
Basically, it looks like you have timing issue. Could be the cam or crank sensor or the timing belt.
The P0017 code would imply that you have at least two cam sensors (V6 or V8). The computer thinks that the B sensor cam is out of time with the other cam and the crankshaft. Depending on the cost and location, you might try changing the cam sensor first. The cost to check or replace the timing belt is probably going to be painful.