Need help with truck!

Hi all, where to begin...have a 3rd gen sport tacoma, 3.5 auto. Never had a problem with anything until now. Month ago was going up mt road deer hunting when truck started to sound weird, idled not normal. Got turned back around to head down, then truck died. Flashed trans oil temp and some other things. Waited 30 then very hard to start and would die every 100 ft or so. Was huge ordeal, but limped into town 8 miles. Ended up towing back over mountains to my house. Also lost all power. Pulled alternator, was bad. Since then I've replaced alternator, new crankshaft sensor. Still idled rough from 5 to 1500 rpm. Then pulled plenum to see if flap broke, put new pcv in. Got back togethor and started and idled perfect. Took it for drive for 20 min, and then in line at McDonald's idling it dies again. Had to push it out of way. Took awhile but got started and home. Then put new plugs, (oem) cleaned map sensor and throttle body. Started and threw code for camshaft, exhaust drivers side. Replaced that then threw crankshaft codes. Pulled battery and tested bad. New one in and seemed fine, drove again and started to lurch while doing 50 mph, headed home and died on my road. So back in shop and unsure of wth is going on. Any help be great. No signs of wires chewed or broken everything's plugged in. Help!

 

what codes?

 

First code was p0393 camshaft position sensor b high bank 2, then after replacing it put out p0338 crankshaft position sensor a circuit high

 

Mileage, any recent maintenance items addressed BEFORE you had an issue?

 

It had just hit 150,000. And no maintenance issues. Before, like said never had anything go wrong with it before. And was just going uphill to hunt.