If the camshaft pos sensor (CMP) is gone the car will not start. Cleaning it will not help sadly. Also clearing the codes might only work for a short period of time. Afaik the ECU counts the times the CMP is not functioning and after an amount of fails it will trigger the MIL and the car will not start.
To change it wait for the engine to cool down
undo the two torx bolts (30 if I remember right) and swap the sensors.