have you had the phlenum off since you did cam covers it sounds like its not sealed correctly with the large o rings but someone more knowledgable will be along shortly
reason i am saying this the first time i took the plenum off i didnt reseat it correctly and got your exact symptoms
Exactly my thoughts. Revs rising is classic air leak symptoms ime and the black o ring seals moving when re fitting are quite common as they stick to the plenum while your trying to line up the location pegs. Re trace steps, checking all parts are seated correctly including the inlet manifold under plenum to black plstic wedge. May well give you a maf code if you have a bad air leak there i guess? Also check the idle controle valve is seated correctly, but from pictures i've seen of the catera engine bay you may not have one.....? Or at least its slightly different to the uk set up?
Rusty is talking about the crank sensor, cam sensor is fairly bullet proof on the v6.
I would do the paper clip test as well just to double check what your reader is telling you. Have had snap on and others give miss leading info.
Cam cover (or valve cover) leak is common due to blocked breathers(and eventually age). Breathers need cleaning out at least every 2 years. Far more often imho if the car does a lot of short journeys due to mayo in the system. If the covers leak, eventually the spark plug wells will fill with oil and miss fires will follow. All covered by guides in maintenance section. Hth