So far as I can make out the code is generic:
P0016 is a diagnostic trouble code (DTC) for "Camshaft Position A - Camshaft Position Correlation (Bank 1)".
This means the two signals don’t match as expected.
This could be because one or both of the sensors are duff, or the crank & cam shafts are not in the proper positions.
As others have said, basic engine timing could be out. Alternatively, the variable valve lift gear might be at fault, although I’m not sure the lift gear affect the timing, but it might look like it to the ECU.
This lift gear is operated by an actuator and some gears in the cylinder head.
A remote possibility, since I believe this fault generates code P1062, but worth thinking about?