The dealer is wrong , follow this link , not the exact vehicle but the engine is pretty much the same , the CAM position sensor is located battery end of engine ,may have to remove the air intake/filter box to gain access , it is screwed into end of the cylinder head
where is the camshaft position indicator sensor located in 2005...

Hey Travis here is the compleat definition of code P0340=
NO CAM SIGNAL AT PCM , NO FUEL SYNC. YOU CAN TRY THE AUTOZONE LIBRARY FOR MORE INFO. there is more to it than sensor not being there. check the power control moudel.