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code p0320 refers to cam shaft position (CKP) sensor/engine speed (RPM) sensor--circuit malfunction=== causes --wiring--CKP/RPM sensor ---ECM
because the engine runs ok until it is on cruise control I would be investigating the RPM sensor for a fault
The cruise control takes its control from the RPM sensor and if that circuit is interminable the the cruise control doesn't know what rpms to maintain.
The only proper way to diagnose your problem is to stop by any AutoZone and have them run a FREE diagnostic scan. This will pinpoint the problem. The possibilities are are to numerous to even guess at. They range from low oil, a faulty coil to a malfunctioning mass air flow sensor.
I suggest that you have the scan performed immediately.
I am unable to find a P2009 code. The closest I have come across is a P2109 which is:
THROTTLE/PEDAL POSITION SENSOR "A" MINIMUM STOP PERFORMANCE
Whichwill usually be accompanied by:
Poor driving performance.
Also the "Cruise" light will always flash when the Check Engine light is on with these later models, but it does not mean there is a concern with the Cruise control. The diagnostic checks for these cars require the SDS: Subaru Diagnostics System.(A laptop computer with Subaru specific diagnostic software). These concerns are unfortunately not easy to diagnose w/out Subaru dealership resources. I hope this info helps.
Sound like the O2's heater circuit may not be working, that will set a code. I am not a big fan of univeral O2's, too many problems with bad connections and the check engine lights coming back on. You may need to use a OEM type sensor to keep the light off.
It is safe to drive your car. What happened was you have a Check engine light on indicating a problem with the emission diagnostic system. This also makes your cruise not work, and the light to blink. Take your car to your dealer at your convienence and have them diagnose it.