Never figured it out. I changed my immediate shaft lifters and the problem persisted. I gave up and traded the car in for a problem free Acura MDX.
Good luck with yours. If you do find a solution please post it here. Over the years I have had many people contact me and see if I found a solution
it would be nice to finally find out what was wrong with the car.

Thanks for the reply. I will see how I go. Perhaps I will check out the shafts. I came across an online PDF file that detailed the replacement of the eccentric shafts due to visible wear on one of the cams.

I think I may have solved my problem. After doing all the things that you did (plugs, coils, injectors, INPA, endoscope) I finally took the two right hand side vanos solenoids out and cleaned them (as you did) with carby cleaner. I also checked them by connecting them to a 12 volt power source and putting a small screw driver into the bore. When connected they clicked and the screw driver moved out of the bore about 10mm to 20mm (see youtube). There may still be a bit of hesitation under heavy acceleration but I honestly can't remember how the car ran originally. No matter how hard I try I can't generate the 29CC and 29CD errors that would always occur.
Given all this I would say that vanos solenoids are definitely the issue.

Update:
False alarm. Solenoids were not connected properly and as a result I ended up with a car that ran a lot better but with 2A80 and 2A85 errors (vanos activation intake and exhaust). I am now back where I started, 29CC and 29CD errors and a misfire under acceleration from low revs. Back to the drawing board.

Replaced Vanos seals (x8); still no change. Wouldn’t mind changing eccentric shafts and levers if someone could convince me that that was the problem but the thought of spending $10,000 and finding that didn’t solve the problem makes me shudder.

Did either of the two posters here pay attention to this?!?

Anyone try a proper computer to run diagnostics? Or just taking stabs at replacing stuff and hoping to get lucky?