So, I left my headlights on and ran the battery down. After jumping it and driving it around 20 minutes, it seemed fine but the check engine light and RSCA and Trac off lights on. After driving some more and shutting the car off and on, they finally went out. But when I used my plug in oBDII reader, I'm getting the following codes: PO 335, PO 340, PO345, PO 335. I don't understand why running the batter down would cause this. Is it coincidence? Why would both crank and cam shaft sensors go at the same time. Care has 240K.
Also, I"m having trouble locating where the crankshaft sensor is located on the V6.
They say if these sensors are bad, the car will just fail to start in a few cycles. I"ve already shut it off and on 5 times today w/o problem. Do I need to take it out of service until I can fix this?
Thanks in advance.

Given the battery discharge, I'd get it load-tested at the local parts store. Advance Auto has a good tool that tests the battery and alternator and prints a report.

Also try disconnecting the battery negative cable and letting it sit for 30mins or longer to clear the ECM, then see if the codes stay cleared. They may have set while the battery was dead and alternator was maxed out, system running at low voltage. Neither the cam nor crank sensors use system voltage as they're magnetic Hall effect sensors, but it's worth ruling out.

Let us know what you find.

I will try that, thanks. I found a video on camshaft Position sensors. Checking ground with test light: ok. then the positive, repeatidly contacting it. If EfI relay clicks, the wiring is good. Well, no clicking and my EFI relay looked completely different than the one in the video, plus my hearing isn't so good. So, I ordered the camshaft position sensors and the crank sensor. I'll try your suggestion. If it clears them, back they go to Rock auto.
If it don't, I'll try the camshaft ones first..they're easy to get to. If it clears the codes on the camshaft sensors, I might try the crank sensor replacement, but it looks like a bear...appears to be behind ac compressor? If I can't get at it through the wheelwell with the tire off, I might have someone do it for me. i don't know if anyone has done it. My 4runner has 238K on it, so puttin in the new sensors may make sense, I don't know. I'll let you know, Thanks again.

[QUOTE=waypoint;3605551]Given the battery discharge, I'd get it load-tested at the local parts store. Advance Auto has a good tool that tests the battery and alternator and prints a report.

i disconnected the negative terminal and let it sit a bit. Reconnected it and my scanner said no fault codes. I'll monitor it this weekend, but looks good so far. Thanks for the tip!