nissan maxima 3.5 camshaft position sensor or camshaft sensor

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check engine light came on. played around with the car a little more. the car stalls. when shifting to reverse hard shift. when placing car in D hard shift. when you drive it, it starts off in 5th gear. when put into tiptronic mode the shifter reads has gear 5. now when driving i have only 2 gears in tiptronic mode. im assuming 5 and maybe 3 or 4. later on that day i turned the car on and everything went away, the hard crank, the stalling, and the weird shifting. the next day i turn the car on and all of the symptoms came back. i went to autozone and they read the ecm with a cam shaft position sensor in bank 2 as the issue. my only question is would the cam shaft positioning sensor cause the car to shift crazy and only have reverse and 2 gears? and all the things i have mentioned? and is there a way to reset the ecu to see if it really is a sensor or just a hiccup. im all ears for sugestions before i bring it to the dealership and fork out hundreds of dollars.