car starts hard, in a different gear intermitantly

2005 Nissan, Maxima intermittently starts hard and in a different gear when put into R or D clunks, then no pick up. Computer comes up with a soft code camshaft sensor.

I have heard it also could have something to do with the neg wire off the battery to the transmission. So far I have replaced one of the cam shaft sensors, the one on the side of the engine. Have yet to replace the one between the engine and the firewall. In your opinion is this the problem, or are there any other reasons this would happen?