Has anyone experienced a timing belt that skips a cog on a 4.7l V8?

My '06 4Runner recently had a camshaft position error code. Under warranty, my local dealership tried to fix it by swapping several components (cam position sensor(s), crank position sensors, ECU) but couldn't find the problem. Toyota Canada finally provided the guidance and it was found to be that the cams were actually out of position and the warning was accurate. The truck started and ran fine & got good (as good as can be expected) mileage, so it couldn't have been out much.

The engine had never been opened up and it only had 22K km (14K miles) at the time.

To fix it, the timing was reset and the belt replaced. It's been good since.

I've never seen this problem with ANY engine before so I was a little suprised. It wasn't even a factory assembly problem since the warning never showed up until after a year of driving.

Just thought I'd share my story.

On a side note, the dealer tried to test their fix in the shop rather than on the road. They put the truck up on a chassis hoist and ran the wheels. With no weight on the air bags in rear, they must have vibrated loose and become misaligned. When they sat the truck back down, the bags were tipped and ended up getting crushed under the weight.
Moral of the story, those with the upgraded air suspension, be careful when the weight is taken off!