I get P0343 and the P1341 if I let it run longer.
P0343 refers to a camshaft position sensor high B1 which means that the sensor does not send the low signal anymore. Now, the multiple misfire (P1341) I believe but I might be wrong, is coming out because the first code.
I do not have a bad CPS.
Here is what I did:
I had a CPS which opened up and use the harness to make a brake out box.
I connected a spare sensor through it to be able to measure the voltage pins.
I switched the key in position 1 without starting the engine and I measured the voltage on the middle pin which is the signaling.
If I go with the sensor close to a metal part of the car the output is zero (low - P0342) if I move the sensor away the output is 11V (high - P0343.
This proves that the sensor is working. and the ECU outputs the right codes for Bank 1. Now if I do the same thing for the Bank 2 (driver side) then I don't get the same behavior. I get P01347 or 1348 which is a specific cylinder misfire when I have the sensor close to a metal part of the car.
I was expecting the same think as in bank 1 (P0347 for bank 2).
So, the above testing was done with a spare CPS which I could more around.
Now, if I measure the signaling voltage when the engine is running with the sensors in place I get 6.4V with a variation of 0,1V or so which is normal. With an oscilloscop you can see the the righ signal.

Based on the test above I can eliminate a bad CPS.

Then, where is the rough idle coming from and P0343 and P1341?

Where should I look?