Oh, whoa, it just occurred to me, you have the same setup as the gen1 Titan VK's. You have three cam sensors, not two. The actual sync signal for both cams comes from a separate "phase" sensor on the left bank cam. It's located at the front of the engine on the VK45, looks to be right above the A/C Compressor. See EC-825 here:
https://www.nicoclub.com/service-manual ... 5%2Fec.pdf
The "cam sensors" on top of the engine are actually called "intake control" sensors and put out a simple 1-pulse sync signal indicating cam advance, the complex 1-2-3-4 pulse signal that syncs the cams to the crank comes from the third sensor. Check out this VK56 diagram from the Rotkee wavebase:
https://rotkee.com/en/wavebase/good-tim ... ?system=51
The blue channel is the crank, green/red are the intake control pulses, and brown is the phase signal. Hall sensors can fail in a mode called "phase shift" where they trigger later than they should, and in this case I bet that's what happening. The ECM is blaming the crank sensor for not being synchronized because the phase sensor is working but late, so it can't tell who's at fault and the data shows a shift on both cams and not just one. Try replacing the phase sensor, I bet that's your issue.