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The sensor is actually pretty easily accessed, and is no more involved than changing bank 1 spark plugs. If you are the original owner, and have less than 100k miles, it is under warranty. If not, the sensor is conveniently located on the edge of the valve cover. It is held on by a single 10mm bolt.
 

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06 Sedona LX, 06 Sedona EX, 14 Forte EX, 11 Sportage EX, 11 Forte 5-door SX, 15 K900 VIP+
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P0012 is a code thrown by a failed oil control valve (Timing over-retarded). Where did you get "cam timing sensor"? Replacing the oil control valve gets a little bit more involved than cam position sensor. My Sedona had an OCV fail at ~78k miles.
 

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OCV replacement would fall under the powertrain warranty. It is a pretty involved repair, requiring tearing out both intake manifolds, and the fuel rail. According to Kia's Diagnostic Trouble Code manual (found by registering at kiatechinfo.com), P0012 = A Camshaft Position - Timing Over-Retarded (Bank 1). The two causes it gives are failed OCV or failed CVVT assembly. I very seriously doubt it is the CVVT assembly itself, especially considering it is not unheard of for an OCV to fail. The OCV regulates the oil pressure in order to advance and retard the intake timing at different engine speeds. It takes failure in two consecutive driving cycles to illuminate the CEL.
 

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Why would an essential part of the powertrain not be covered under the powertrain warranty? That's like saying the camshaft isn't part of the powertrain warranty. Would it be overly-difficult to go to a different dealership? Philly has to have more than one dealer....and it sounds like I would avoid the dealer service department you went to at all costs. P0012 is the second code listed in the DTC manual!
 

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06 Sedona LX, 06 Sedona EX, 14 Forte EX, 11 Sportage EX, 11 Forte 5-door SX, 15 K900 VIP+
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The Service manager at the time said to me (with a straight face), well that's to be expected, all cars seep fluids...
I'm not even going to respond to that....just...wow. Anyway, glad to hear they are covering it. I hope for your sake the mechanics are more competent than the service manager!!
 
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