2007 Low RPM in reverse

Stephenb

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My Lincoln
2007 Navigator
Afternoon all,
Hoping to get some insight,
I have a 2007 Navigator with approx. 390K KM (240K Miles). She Runs and handles like a dream, but after the last oil change I am now experiencing low RPM in reverse. This only happens when the vehicle is warmed up. What is more odd, is that it drives perfect in forward, until I go from Reverse to Forward and that it sounds like a diesel.
I did a Tranny fluid change hoping to fix shortly after this issue arose, but no change
I did not end up getting any codes until about 2-3 days after the issue started, codes were P0012, P0022, P0300, P0340, 344 and 345.
I swapped out the Cam shaft position sensor and Bank 1 VVT Solenoid with no improvement.
What I find interesting is that if this was a mechanical issue it would not be intermittent, correct?
and why would the timing in Drive only get disrupted after I come out of reverse? but not from Park to Drive, and the timing issue goes away when I stop and restart.

Any thoughts are much appreciated.
 
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