2000 4.7 v8 skipped timing belt teeth?

Been working on a 2000 limited with the 4.7 liter V8 that is throwing a P0340, cam position circuit.

Think I have finally found the issue. With the engine at TDC, the cam pulleys are way off the timing marks.

Would this cause a cam sensor code?

Also, I've read mixed opinions, do the timing marks line up with the "T" mark on the engine or the solid line?

Is the only way to set the timing to pull the thing all the way apart like I'm replacing the timing belt? Do the cracks in the timing belt look bad enough that I might as well order all the stuff to just replace the timing belt, tensioner, water pump, etc. While I'm in there if I do have to pull it apart?

 

Crank pulley is at 0 degrees, yellow mark on cam pulleys is the timing mark.

 

First off, that timing belt appears fairly tired to me, and I'd be replacing it.

2nd off, I think you may want to read this thread to understand what you need to be looking for on timing: https://www.toyoheadquarters.com/threads/toyota-2uz-fe-timing-belt-marks-4-7l.335/

3rd and final, just for shits and giggles, check the cam position sensor that's under the driver side cam cover (since you have it off), and look carefully at the wiring to ensure it's not frayed from contacting belt (this is a known issue), the harness is intact, no wire splices, and all connectors are OK.

If the timing is off, there's a trick you can use to jump the belt one tooth at a time to get it back to OK again without removing the belt.

 

I would definitely change that belt and all pulleys etc. If the timing was off that much it must of ran like crap. Line up the crank, move the cams to the slash mark, not the T, put new belt on and rotate crank 2 times and if all line up your golden.

 

It definitely ran very bad. Super rough idle

 

Hopefully it wasn't driven too much like that. When I did my 01 it was off barely a tooth, most likely just the belt stretching with age. When I put on the new belt and all line up perfectly I could tell how much smoother it is.