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1st gen sportages that throw a cam sensor code usually are out of timing. even though your marks are right on, the timing is still off and i will tell you why...check the timing belt sprocket on the crank by turning it side to side and check for too much play. they have a problem with shearing off the key and eventually if not taken care of asap when it has this problem it will make the key way in the crank bigger which will result in having to replace the whole crank.
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Kiaracer posted this in another thread. I think that you should look VERY closely at the crank snout and the pulley to see if there is any damage like what he talks about.
Plus you should re-examine the alignment of the belt and the timing marks. It seems likely that if it was running off the crank edge then the belt would be dragging on something...That would heat up the belt and damage it and allow it to stretch enough to jump out of timing alignment. The stress might also have damaged the bearings in the idler and/or tensioner...Be certain to examine them very closely while in there.
Good luck.