I can’t attach the official TSB regarding this code but the key element is P0340 AND “hard to start when warm”. If you have both of these symptoms, then you must replace both CPS sensors. I had both of these symptoms and replacing both sensors solved the problem.
The part number for the second sensor is: Camshaft Position Sensor- Bank 2 – 23731-AL616
If someone can give me directions to attach a file, I will gladly post it for everyone.
Hope this helps!