update: the day I posted this I took the chance and changed the intake cam sensor (right side as you face the engine) and 3 weeks later everything has been fine so far. no codes or stalling since. the sensor was $92 at Advance Auto Parts ($40 online but it was Saturday and I needed the car done by Monday). the intake sensor has a cord while the exhaust one doesn't. if you order it over the phone make sure you order the right part. it looks almost the same as the original one except the part that goes inside the engine. tight fit while the original one had the tip narrower.
a couple notes. you have to remove the solenoid. to do that you need a little leverage so the best is to remove the oil filter cap, then the solenoid and then the sensor. btw: you need a 32mm wrench to remove the solenoid. that's about all.

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2012 X70 XDrive 35i