Dtc code p0340???

I have a 2000 328i that is giving me some problems with the camshaft position sensors. Check engine light went off, and first code was p1397 cps bank "b" intake. I changed that one, then immediately p0340 came up, cps bank "a" exhaust, and the car ran bad and stalled a lot. Replaced 2nd sensor and car seems to run fine for the most part now, but still keeps throwing the p0340 code over and over, and I need to get through inspection. I keep clearing the code with my reader, but back it comes. Any ideas??

Thanks.