Stalling Problem

[blackthorn79]

Hello everyone.
After getting little use over the lockdown period, I started using the car again. I have an 05 4.4 with the N62 engine.

Idling was a little rough but put that down to not being used often. After a couple of days, I noticed the car trying to stall whilst at junctions.
Eventually it did stall a few days in. Restarted straight away, but the following day it stalled, and threw the Transmission Failsafe Warning up.
Left it half hour & warning remained on, car then wouldn’t start.

Called out the RAC and upon their arrival just oven an hour later, the car started up right away.
He did the diagnostics and the following codes came up:-

Name: EOBD
DTC: P0347,Camshaft position (CMP) sensor A , bank 2 - low input
DTC: P0335,Crankshaft position (CKP) sensor - circuit malfunction
DTC: P0340,Camshaft position (CMP) sensor A , bank 1 - circuit malfunction
DTC: P0021,Camshaft position (CMP), intake/left/front , bank 2 - timing over-advanced / system performance.

I drove it half a mile to work, where it has since sat as I don’t want to drive it and risk it cutting out again.

Any ideas welcome before I get it taken to the garage for them to run tests?