I recently bought a 2008 5.4 L f250 with about 105,000 miles on it. It live the first half of its life as a farm truck and the second as a daily runner for the second owner. I'm the third owner and have no idea about its previous maintenance. In the last two months I've had to make trips in the 150 to 200 mile range and then reverse to drop a boat the first time and into a camping spot the second time with no load. In both of these instances the engine started running pretty rough. The first time I immediately parked, shut the engine off and dropped the boat. When I turned the truck back on the problem was gone and there wasn't any error code. A month later I drove for a couple hundred miles with no issue but the engine started running roughly as soon as I put it into reverse and stayed running rough when I checked neutral and then drive. I shut it off and checked again in the morning and the problem stopped but it started throwing code P0340 Camshaft Position Sensor A Circuit (bank 1 or single sensor). I was able to drive it a couple hundred miles home and can use it for a daily runner without any issues including when backing up so the issue appears to be after long drives and then going into reverse. To make the issue even more fun, the first time it happened I had to throw it into reverse and back up about 100 yds around a curve because the first lot was full and wasn't marked but the truck didn't have any problems until the second time I put it into reverse. I'd like to get some input before I just throw in a new sensor and hope for the best. Any insight into this issue would be appreciated.